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Stack Of Tasks
roscontrol_sot
Commits
9dd2e8a2
Commit
9dd2e8a2
authored
Oct 09, 2019
by
Olivier Stasse
Browse files
Fix previous wrong commit.
parent
f210e5f7
Pipeline
#6282
failed with stage
in 1 minute and 45 seconds
Changes
1
Pipelines
1
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Inline
Side-by-side
src/roscontrol-sot-controller.cpp
View file @
9dd2e8a2
...
...
@@ -1055,27 +1055,6 @@ void RCSotController::update(const ros::Time &, const ros::Duration &period) {
sotController_
->
setupSetSensors
(
sensorsIn_
);
}
catch
(
std
::
exception
&
e
)
{
throw
e
;}
}
void
RCSotController
::
stopping
(
const
ros
::
Time
&
)
{
std
::
string
afilename
(
"/tmp/sot.log"
);
RcSotLog_
.
save
(
afilename
);
/// Generate a control law.
try
{
sotController_
->
nominalSetSensors
(
sensorsIn_
);
}
catch
(
std
::
exception
&
e
)
{
throw
e
;
}
// But in effort mode it means that we are sending 0
// Therefore implements a default PD controller on the system.
// Applying both to handle mixed system.
localStandbyEffortControlMode
(
period
);
localStandbyVelocityControlMode
(
period
);
localStandbyPositionControlMode
();
}
}
void
RCSotController
::
starting
(
const
ros
::
Time
&
)
{
...
...
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