Commit 74ecd342 authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr
Browse files

Do not try to catch exception in increment method since plugin crashes anyway.

  Moreover, it makes debugging cumbersome.
parent 7a24cd7c
......@@ -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;
......
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