From f2a91de42bd63e7b461411176abd412dbacfe31a Mon Sep 17 00:00:00 2001
From: Markus <Markus.Przybylski@kit.edu>
Date: Tue, 22 Apr 2014 11:09:22 +0200
Subject: [PATCH] Added function addState<MoveJoints>("MoveJoints"). (Removed
commetary)
---
source/RobotAPI/motioncontrol/MotionControl.cpp | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/motioncontrol/MotionControl.cpp b/source/RobotAPI/motioncontrol/MotionControl.cpp
index dfb63eca2..41b661df6 100644
--- a/source/RobotAPI/motioncontrol/MotionControl.cpp
+++ b/source/RobotAPI/motioncontrol/MotionControl.cpp
@@ -29,7 +29,7 @@ MotionControlOfferer::MotionControlOfferer()
void MotionControlOfferer::onInitRemoteStateOfferer()
{
- //addState<MoveJoints>("MoveJoints");
+ addState<MoveJoints>("MoveJoints");
//addState<MotionControlTestState>("MotionControlTestState");
addState<MotionControlTestStateIK>("MotionControlTestStateIK");
addState<ZeroForceControl>("ZeroForceControl");
@@ -54,7 +54,8 @@ void MoveJoints::defineParameters()
// TODO: add when we have decided how to do it
addToInput("jointMaxSpeeds", VariantType::List(VariantType::Float), true);
- addToInput("jointMaxSpeed", VariantType::List(VariantType::Float), true);
+ //addToInput("jointMaxSpeed", VariantType::List(VariantType::Float), true);
+ addToInput("jointMaxSpeed", VariantType::Float, true);
addToInput("jointTargetTolerance", VariantType::Float, false);
addToInput("timeoutInMs", VariantType::Int, false);
--
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