Commit fbd82900 authored by Joseph Mirabel's avatar Joseph Mirabel

Add argument time to FeaturePose::servoCurrentPosition

parent 9a425369
......@@ -151,7 +151,7 @@ public:
virtual void display(std::ostream &os) const;
public:
void servoCurrentPosition(void);
void servoCurrentPosition(const int& time);
private:
MatrixHomogeneous &computefaMfb(MatrixHomogeneous &res, int time);
......
......@@ -106,10 +106,10 @@ FeaturePose<representation>::FeaturePose(const string &pointName)
using namespace dynamicgraph::command;
addCommand(
"keep",
makeCommandVoid0(
makeCommandVoid1(
*this, &FeaturePose<representation>::servoCurrentPosition,
docCommandVoid0(
"modify the desired position to servo at current pos.")));
docCommandVoid1(
"modify the desired position to servo at current pos.", "time")));
}
}
......@@ -319,15 +319,15 @@ Vector &FeaturePose<representation>::computeErrorDot(Vector &errordot,
* to the current position. The effect on the servo is to maintain the
* current position and correct any drift. */
template <Representation_t representation>
void FeaturePose<representation>::servoCurrentPosition(void) {
void FeaturePose<representation>::servoCurrentPosition(const int& time) {
check(*this);
const MatrixHomogeneous &_oMja = (oMja.isPlugged() ? oMja.accessCopy() : Id),
const MatrixHomogeneous &_oMja = (oMja.isPlugged() ? oMja.access(time) : Id),
_jaMfa =
(jaMfa.isPlugged() ? jaMfa.accessCopy() : Id),
_oMjb = oMjb.accessCopy(),
(jaMfa.isPlugged() ? jaMfa.access(time) : Id),
_oMjb = oMjb.access(time),
_jbMfb =
(jbMfb.isPlugged() ? jbMfb.accessCopy() : Id);
(jbMfb.isPlugged() ? jbMfb.access(time) : Id);
faMfbDes = (_oMja * _jaMfa).inverse(Eigen::Affine) * _oMjb * _jbMfb;
}
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment