Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

adding new point just befor the final point produce jerkey motion #635

Merged
merged 1 commit into from
Jul 19, 2016
Merged

adding new point just befor the final point produce jerkey motion #635

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
15 changes: 4 additions & 11 deletions jsk_baxter_robot/baxtereus/baxter-interface.l
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -233,17 +233,10 @@
(:angle-vector-sequence (avs &optional (tms :fast) (ctype controller-type) (start-time 0) &key (scale 2.2) (min-time 0.05))
;; force add current position to the top of avs
(if (atom tms) (setq tms (list tms)))
(push (send self :state :potentio-vector :wait-until-update t) avs)
(push 50 tms)
(when (= (length avs) 2) ;; when input avs is 1
(setq avs (list (elt avs 0) (midpoint 0.5 (elt avs 0) (elt avs 1)) (elt avs 1)))
(cond ((numberp (elt tms 1))
(setq tms (list (elt tms 0) (/ (elt tms 1) 2) (/ (elt tms 1) 2))))
(t
(setq tms (list (elt tms 0) (elt tms 1) (elt tms 1))))))
(when (= (length avs) 3) ;; when input avs is 1 or 2
(setq avs (append avs (list (elt avs 2))))
(setq tms (append tms (list 50))))
;; from v1.1.1 if num_points is 1, it will use current position to the first element of trajectory point https://github.com/RethinkRobotics/baxter_interface/commit/b38ec257fece0711adb260ed6bc161096aa3ecae
(when (>= (length avs) 2)
(push (send self :state :potentio-vector :wait-until-update t) avs)
(push 50 tms))
(setq ctype (or ctype controller-type)) ;; use default if ctype is nil
(send-super :angle-vector-sequence avs tms ctype start-time :scale scale :min-time min-time))

Expand Down