From 4ef57283d79d856274a12e67e524c74671b2013e Mon Sep 17 00:00:00 2001
From: Armar6 <armar6@h2t.com>
Date: Fri, 14 Sep 2018 13:37:40 +0200
Subject: [PATCH] added target valid check in impedance controller
---
.../NJointControllers/NJointTaskSpaceImpedanceController.cpp | 5 +++++
1 file changed, 5 insertions(+)
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp
index 68e638699..ca8dd3132 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp
@@ -192,7 +192,12 @@ void NJointTaskSpaceImpedanceController::rtRun(const IceUtil::Time& sensorValues
debugDataInfo.getWriteBuffer().desired_torques[jointNames[i]] = jointDesiredTorques(i);
+
targets.at(i)->torque = desiredTorque;
+ if (!targets.at(i)->isValid())
+ {
+ targets.at(i)->torque = 0;
+ }
}
--
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