From 0ca3753356aaae5920618d0e13fcebfe217dd73e Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Tue, 29 May 2018 16:38:19 +0200
Subject: [PATCH] Add initialization of
NJointTaskSpaceImpedanceDMPController::controllerSensorData
---
.../NJointTaskSpaceImpedanceDMPController.cpp | 7 +++++++
1 file changed, 7 insertions(+)
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
index d57574c7a..643368fb2 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
@@ -84,6 +84,13 @@ namespace armarx
NJointTaskSpaceImpedanceDMPControllerInterfaceData initInterfaceData;
initInterfaceData.currentTcpPose = Eigen::Matrix4f::Identity();
interfaceData.reinitAllBuffers(initInterfaceData);
+
+ NJointTaskSpaceImpedanceDMPControllerSensorData initControllerSensorData;
+ initControllerSensorData.currentPose = Eigen::Matrix4f::Identity();
+ initControllerSensorData.currentTime = 0;
+ initControllerSensorData.deltaT = 0;
+ initControllerSensorData.currentTwist.setZero();
+ controllerSensorData.reinitAllBuffers(initControllerSensorData);
}
std::string NJointTaskSpaceImpedanceDMPController::getClassName(const Ice::Current&) const
--
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