From 2f66da6930d069ad61ea653213e9f92736930946 Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Wed, 16 May 2018 17:45:07 +0200
Subject: [PATCH] Fix NJointTaskSpaceImpedanceDMPController for RobotUnit v3
---
.../NJointTaskSpaceImpedanceDMPController.cpp | 10 +++++-----
.../NJointTaskSpaceImpedanceDMPController.h | 2 +-
2 files changed, 6 insertions(+), 6 deletions(-)
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
index 6c773caad..34fc12893 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
@@ -4,19 +4,19 @@ namespace armarx
{
NJointControllerRegistration<NJointTaskSpaceImpedanceDMPController> registrationControllerNJointTaskSpaceImpedanceDMPController("NJointTaskSpaceImpedanceDMPController");
- NJointTaskSpaceImpedanceDMPController::NJointTaskSpaceImpedanceDMPController(armarx::NJointControllerDescriptionProviderInterfacePtr prov, const armarx::NJointControllerConfigPtr& config, const VirtualRobot::RobotPtr&)
+ NJointTaskSpaceImpedanceDMPController::NJointTaskSpaceImpedanceDMPController(const RobotUnitPtr& robotUnit, const armarx::NJointControllerConfigPtr& config, const VirtualRobot::RobotPtr&)
{
cfg = NJointTaskSpaceImpedanceDMPControllerConfigPtr::dynamicCast(config);
- RobotUnitPtr robotUnit = RobotUnitPtr::dynamicCast(prov);
- VirtualRobot::RobotNodeSetPtr rns = robotUnit->getRtRobot()->getRobotNodeSet(cfg->nodeSetName);
+ useSynchronizedRtRobot();
+ VirtualRobot::RobotNodeSetPtr rns = rtGetRobot()->getRobotNodeSet(cfg->nodeSetName);
ARMARX_CHECK_EXPRESSION_W_HINT(rns, cfg->nodeSetName);
for (size_t i = 0; i < rns->getSize(); ++i)
{
std::string jointName = rns->getNode(i)->getName();
jointNames.push_back(jointName);
- ControlTargetBase* ct = prov->getControlTarget(jointName, ControlModes::Torque1DoF);
- const SensorValueBase* sv = prov->getSensorValue(jointName);
+ ControlTargetBase* ct = useControlTarget(jointName, ControlModes::Torque1DoF);
+ const SensorValueBase* sv = useSensorValue(jointName);
targets.push_back(ct->asA<ControlTarget1DoFActuatorTorque>());
const SensorValue1DoFActuatorVelocity* velocitySensor = sv->asA<SensorValue1DoFActuatorVelocity>();
const SensorValue1DoFActuatorPosition* positionSensor = sv->asA<SensorValue1DoFActuatorPosition>();
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.h b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.h
index 843908dfe..1326dfacc 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.h
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.h
@@ -37,7 +37,7 @@ namespace armarx
{
public:
using ConfigPtrT = NJointTaskSpaceImpedanceDMPControllerConfigPtr;
- NJointTaskSpaceImpedanceDMPController(NJointControllerDescriptionProviderInterfacePtr prov, const NJointControllerConfigPtr& config, const VirtualRobot::RobotPtr&);
+ NJointTaskSpaceImpedanceDMPController(const RobotUnitPtr& robotUnit, const NJointControllerConfigPtr& config, const VirtualRobot::RobotPtr&);
// NJointControllerInterface interface
std::string getClassName(const Ice::Current&) const;
--
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