Obbart/universal_robots_ros_driver
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Bugfix in calculating servoj commands

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This commit is contained in:
Thomas Timm Andersen
2015-09-09 11:15:14 +02:00
parent 28e033f5b3
commit cb38c1f028
2 changed files with 7 additions and 8 deletions
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6
src/ur_driver.cpp
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@@ -55,18 +55,18 @@ void UrDriver::addTraj(std::vector<double> inp_timestamps,
}
}
//make sure we come to a smooth stop
/*while (timestamps.back() < inp_timestamps.back()) {
while (timestamps.back() < inp_timestamps.back()) {
timestamps.push_back(timestamps.back() + 0.008);
}
timestamps.pop_back();
*/
unsigned int j = 0;
for (unsigned int i = 0; i < timestamps.size(); i++) {
while (inp_timestamps[j] <= timestamps[i]) {
j += 1;
}
positions.push_back(
UrDriver::interp_cubic(timestamps[i], inp_timestamps[j],
UrDriver::interp_cubic(timestamps[i] - inp_timestamps[j-1], inp_timestamps[j] - inp_timestamps[j-1],
inp_positions[j - 1], inp_positions[j],
inp_velocities[j - 1], inp_velocities[j]));
}