Commit f575668c authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel

Update plug sot

parent 6222293b
......@@ -150,7 +150,7 @@ class Supervisor(object):
return True
csot = self.sots[self.currentSot]
nsot = self.sots[id]
t = csot.control.time
t = self.sotrobot.device.control.time
csot.control.recompute(t)
nsot.control.recompute(t)
from numpy import array, linalg
......@@ -174,8 +174,10 @@ class Supervisor(object):
if id == -1:
self.keep_posture._signalPositionRef().value = self.sotrobot.dynamic.position.value [6:]
sot = self.sots[id]
plug(sot.control, self.sotrobot.device.control)
t = self.sotrobot.device.control.time
sot.control.recompute (t-1)
print "Current sot:", id
plug(sot.control, self.sotrobot.device.control)
print sot.display()
self.currentSot = id
......
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