Skip to content
GitLab
Menu
Projects
Groups
Snippets
Help
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in / Register
Toggle navigation
Menu
Open sidebar
Guilhem Saurel
sot-hrp2
Commits
74ecd342
Commit
74ecd342
authored
Oct 24, 2012
by
Florent Lamiraux
Committed by
Florent Lamiraux florent@laas.fr
May 20, 2013
Browse files
Do not try to catch exception in increment method since plugin crashes anyway.
Moreover, it makes debugging cumbersome.
parent
7a24cd7c
Changes
1
Hide whitespace changes
Inline
Side-by-side
src/sot-hrp2-device.cpp
View file @
74ecd342
...
...
@@ -134,21 +134,7 @@ void SoTHRP2Device::getControl(map<string,dgsot::ControlValues> &controlOut)
anglesOut
.
resize
(
state_
.
size
());
// Integrate control
try
{
increment
(
timestep_
);
}
catch
(
dynamicgraph
::
ExceptionSignal
)
{
// The strategy in case of problem is to maintain the previous
// state.
for
(
unsigned
int
i
=
6
;
i
<
state_
.
size
();
++
i
)
anglesOut
[
i
-
6
]
=
previousState_
(
i
);
controlOut
[
"joints"
].
setValues
(
anglesOut
);
std
::
cout
<<
"Signal from the control. Freezing the state."
<<
std
::
endl
;
return
;
}
increment
(
timestep_
);
sotDEBUG
(
25
)
<<
"state = "
<<
state_
<<
std
::
endl
;
sotDEBUG
(
25
)
<<
"diff = "
<<
state_
-
previousState_
<<
std
::
endl
;
...
...
Write
Preview
Supports
Markdown
0%
Try again
or
attach a new file
.
Attach a file
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment