From 62a12bd9f86a90d0c1fd3565b555d5cb9a668adc Mon Sep 17 00:00:00 2001
From: armar-user <armar6@kit.edu>
Date: Mon, 14 Jun 2021 09:38:51 +0200
Subject: [PATCH] NJointTaskSpaceImpedanceDMPController: debug: adding can val
---
.../DMPController/NJointTaskSpaceImpedanceDMPController.cpp | 1 +
1 file changed, 1 insertion(+)
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
index c375e084d..6bd72fd26 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
@@ -363,6 +363,7 @@ namespace armarx
debugOutputData.getWriteBuffer().targetPose_qx = targetQuat.x;
debugOutputData.getWriteBuffer().targetPose_qy = targetQuat.y;
debugOutputData.getWriteBuffer().targetPose_qz = targetQuat.z;
+ debugOutputData.getWriteBuffer().currentCanVal = rtGetControlStruct().canVal;
debugOutputData.getWriteBuffer().currentPose_x = currentPose(0, 3);
debugOutputData.getWriteBuffer().currentPose_y = currentPose(1, 3);
--
GitLab