From 5193ba967c792f632b682f9a93ce06a230d8062e Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Mon, 28 May 2018 10:35:16 +0200
Subject: [PATCH] Fix some dmp controllers for RobotUnit v3
---
.../DMPController/NJointBimanualCCDMPController.cpp | 4 ++--
.../DMPController/NJointTaskSpaceImpedanceDMPController.cpp | 2 +-
2 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointBimanualCCDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointBimanualCCDMPController.cpp
index f057fa200..3e5b11466 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointBimanualCCDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointBimanualCCDMPController.cpp
@@ -100,8 +100,8 @@ namespace armarx
const SensorValueBase* svrf = useSensorValue("FT R");
rightForceTorque = svrf->asA<SensorValueForceTorque>();
- leftIK.reset(new VirtualRobot::DifferentialIK(leftRNS, leftRNS->getRobot()->getRootNode(), VirtualRobot::JacobiProvider::eSVDDamped));
- rightIK.reset(new VirtualRobot::DifferentialIK(rightRNS, rightRNS->getRobot()->getRootNode(), VirtualRobot::JacobiProvider::eSVDDamped));
+ leftIK.reset(new VirtualRobot::DifferentialIK(leftRNS, rtGetRobot()->getRootNode(), VirtualRobot::JacobiProvider::eSVDDamped));
+ rightIK.reset(new VirtualRobot::DifferentialIK(rightRNS, rtGetRobot()->getRootNode(), VirtualRobot::JacobiProvider::eSVDDamped));
TaskSpaceDMPControllerConfig taskSpaceDMPConfig;
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
index 37f7b73b7..8596ec6b2 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp
@@ -35,7 +35,7 @@ namespace armarx
};
tcp = rns->getTCP();
- ik.reset(new VirtualRobot::DifferentialIK(rns, rns->getRobot()->getRootNode(), VirtualRobot::JacobiProvider::eSVDDamped));
+ ik.reset(new VirtualRobot::DifferentialIK(rns, rtGetRobot()->getRootNode(), VirtualRobot::JacobiProvider::eSVDDamped));
// set DMP
TaskSpaceDMPControllerConfig taskSpaceDMPConfig;
--
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