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Commit f2a91de4 authored by Markus's avatar Markus
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Added function addState<MoveJoints>("MoveJoints"). (Removed commetary)

parent c3ea910c
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source/RobotAPI/motioncontrol/MotionControl.cpp
+ 3
− 2
View file @ f2a91de4
...@@ -29,7 +29,7 @@ MotionControlOfferer::MotionControlOfferer() ...@@ -29,7 +29,7 @@ MotionControlOfferer::MotionControlOfferer()
void MotionControlOfferer::onInitRemoteStateOfferer() void MotionControlOfferer::onInitRemoteStateOfferer()
{ {
//addState<MoveJoints>("MoveJoints"); addState<MoveJoints>("MoveJoints");
//addState<MotionControlTestState>("MotionControlTestState"); //addState<MotionControlTestState>("MotionControlTestState");
addState<MotionControlTestStateIK>("MotionControlTestStateIK"); addState<MotionControlTestStateIK>("MotionControlTestStateIK");
addState<ZeroForceControl>("ZeroForceControl"); addState<ZeroForceControl>("ZeroForceControl");
...@@ -54,7 +54,8 @@ void MoveJoints::defineParameters() ...@@ -54,7 +54,8 @@ void MoveJoints::defineParameters()
// TODO: add when we have decided how to do it // TODO: add when we have decided how to do it
addToInput("jointMaxSpeeds", VariantType::List(VariantType::Float), true); 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("jointTargetTolerance", VariantType::Float, false);
addToInput("timeoutInMs", VariantType::Int, false); addToInput("timeoutInMs", VariantType::Int, false);
......
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