Commit b9e27211 authored by Olivier Stasse's avatar Olivier Stasse
Browse files

[tools/device] When CONTROL_NO_INTEGRATION is set

then not doing test on position if there is no
proper integration.
This should be fixed by sot-pinocchio-device.
parent 60b34b46
......@@ -254,10 +254,6 @@ setState( const Vector& st )
throw std::invalid_argument ("Upper and/or lower velocity bounds "
"do not match state size. Set them first with setVelocityBounds");
case CONTROL_INPUT_NO_INTEGRATION:
if ( s != lowerPosition_.size()
|| s != upperPosition_.size() )
throw std::invalid_argument ("Upper and/or lower position bounds "
"do not match state size. Set them first with setPositionBounds");
break;
default:
throw std::invalid_argument ("Invalid control mode type.");
......@@ -527,7 +523,6 @@ void Device::integrate( const double & dt )
{
assert(state_.size()==controlIN.size()+6);
state_.tail(controlIN.size()) = controlIN;
CHECK_BOUNDS(state_, lowerPosition_, upperPosition_, "position");
return;
}
......
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