From 4e4223c970f7342f1e3cf78846d01dc9313a913d Mon Sep 17 00:00:00 2001
From: ArmarX User <armarx@kit.edu>
Date: Tue, 22 Oct 2019 10:17:10 +0200
Subject: [PATCH] fix joint space dmp target initialization
---
.../DMPController/NJointJSPositionDMPController.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJSPositionDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJSPositionDMPController.cpp
index 238b6dfef..3ebb32093 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJSPositionDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJSPositionDMPController.cpp
@@ -69,7 +69,7 @@ namespace armarx
initSensorData.currentState.resize(cfg->jointNames.size());
controllerSensorData.reinitAllBuffers(initSensorData);
-// deltaT = 0;
+ // deltaT = 0;
qpos.resize(dimNames.size());
qvel.resize(dimNames.size());
@@ -283,7 +283,7 @@ namespace armarx
currentState[i] = currentPos;
currentDMPState[i] = currentPos;
- targetState.push_back(currentPos.pos);
+ targetState[i] = currentPos.pos;
if (rtGetRobot()->getRobotNode(dimNames[i])->isLimitless())
{
--
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