From d68d6d4ddc82ba95f61b492979931297e63ddd0f Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Sun, 10 Mar 2019 11:14:35 +0100
Subject: [PATCH] Fix errors
---
.../NJointPeriodicTSDMPCompliantController.cpp | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointPeriodicTSDMPCompliantController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointPeriodicTSDMPCompliantController.cpp
index 7b5add1af..b23a1466b 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointPeriodicTSDMPCompliantController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointPeriodicTSDMPCompliantController.cpp
@@ -300,14 +300,14 @@ namespace armarx
filteredForceInRoot = forceFrameInRoot.block<3, 3>(0, 0) * filteredForce;
float targetForce = user2rtData.getUpToDateReadBuffer().targetForce;
- Eigen::Matrix3f currentHandOri = currentPose.block<3, 3>(0, 0);
- Eigen::Matrix3f currentToolOri = toolTransform * currentHandOri;
+ // Eigen::Matrix3f currentHandOri = currentPose.block<3, 3>(0, 0);
+ // Eigen::Matrix3f currentToolOri = toolTransform * currentHandOri;
float desiredZVel = kpf * (targetForce - filteredForceInRoot(2));
targetVel(2) -= desiredZVel;
// targetVel.block<3, 1>(0, 0) = currentToolOri * targetVel.block<3, 1>(0, 0);
- Eigen::Vector3f currentToolDir = currentToolOri * oriToolDir;
+ // Eigen::Vector3f currentToolDir = currentToolOri * oriToolDir;
for (int i = 3; i < 6; ++i)
{
--
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