From a6e1460ecb8e024d1eb73822d4ecc37324a6da58 Mon Sep 17 00:00:00 2001
From: Markus Swarowsky <markus.swarowsky@student.kit.edu>
Date: Mon, 30 Jan 2017 12:22:37 +0100
Subject: [PATCH] fixed a typo and added ABS encoder values to the
KinematicDataUnit
---
.../Controllers/DataUnits/KinematicDataUnit.h | 12 +++++++++---
1 file changed, 9 insertions(+), 3 deletions(-)
diff --git a/source/RobotAPI/libraries/Controllers/DataUnits/KinematicDataUnit.h b/source/RobotAPI/libraries/Controllers/DataUnits/KinematicDataUnit.h
index b305da00e..2b01e1df4 100644
--- a/source/RobotAPI/libraries/Controllers/DataUnits/KinematicDataUnit.h
+++ b/source/RobotAPI/libraries/Controllers/DataUnits/KinematicDataUnit.h
@@ -53,7 +53,8 @@ namespace armarx
jointTorques(jointNames.size(), nullptr),
jointCurrents(jointNames.size(), nullptr),
jointMotorTemperatures(jointNames.size(), nullptr),
- jointGearTempertures(jointNames.size(), nullptr),
+ jointGearTemperatures(jointNames.size(), nullptr),
+ jointAbsPositions(jointNames.size(), nullptr),
jointNames {jointNames},
jointIndices {toIndexMap(jointNames)}
{}
@@ -91,7 +92,11 @@ namespace armarx
}
virtual std::vector<const float*> getJointGearTemperatures(const std::vector<std::string>& joints)const
{
- return getPointers(joints, jointGearTempertures);
+ return getPointers(joints, jointGearTemperatures);
+ }
+ virtual std::vector<const float*> getJointAbsPositions(const std::vector<std::string>& joints)const
+ {
+ return getPointers(joints, jointAbsPositions);
}
protected:
@@ -100,7 +105,8 @@ namespace armarx
std::vector<float*> jointTorques;
std::vector<float*> jointCurrents;
std::vector<float*> jointMotorTemperatures;
- std::vector<float*> jointGearTempertures;
+ std::vector<float*> jointGearTemperatures;
+ std::vector<float*> jointAbsPositions;
private:
template<class T>
std::vector<const T*> getPointers(const std::vector<std::string>& joints, const std::vector<T*>& targets) const
--
GitLab