Commit e12df2c4 authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr
Browse files

Update signals relative to force sensors.

parent b7a706a5
......@@ -39,6 +39,7 @@ SoTHRP2Device::SoTHRP2Device(std::string RobotName):
pose ()
{
sotDEBUGIN(25) ;
for( int i=0;i<4;++i ) { withForceSignals[i] = true; }
signalRegistration (robotState_);
using namespace dynamicgraph::command;
std::string docstring;
......@@ -83,6 +84,7 @@ void SoTHRP2Device::setupSetSensors(map<string,dgsot::SensorValues> &SensorsIn)
for(int j=0;j<6;++j)
mlforces(j) = forcesIn[i*6+j];
forcesSOUT[i]->setConstant(mlforces);
forcesSOUT[i]->setTime (t);
}
vector<double> attitude = SensorsIn ["attitude"].getValues ();
......
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