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do not check position/limit error when lower limit and upper limit is same #726

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Jul 20, 2015
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do not check position/limit error when lower limit and upper limit is same #726

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do not check position/limit error when lower limit and upper limit is… 
… same
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@k-okada
k-okada committed Jul 20, 2015
commit ba8865ac37b3e1ae91594b8f7f2554c9481edd41
6 changes: 4 additions & 2 deletions rtc/SoftErrorLimiter/SoftErrorLimiter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -230,7 +230,8 @@ RTC::ReturnCode_t SoftErrorLimiter::onExecute(RTC::UniqueId ec_id)
double qvel = (m_qRef.data[i] - prev_angle[i]) / dt;
double lvlimit = m_robot->joint(i)->lvlimit + 0.000175; // 0.01 deg / sec
double uvlimit = m_robot->joint(i)->uvlimit - 0.000175;
if ( servo_state[i] == 1 && ((lvlimit > qvel) || (uvlimit < qvel)) ) {
// fixed joint has ulimit = vlimit
if ( servo_state[i] == 1 && (uvlimit < uvlimit) && ((lvlimit > qvel) || (uvlimit < qvel)) ) {
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こちらですが、
uvlimit < uvlimit
でなくて
lvlimit < uvlimit
ですね。
現状のものだとリミットがかかってない状態になりました。

if (loop % debug_print_freq == 0 || debug_print_velocity_first ) {
std::cerr << "velocity limit over " << m_robot->joint(i)->name << "(" << i << "), qvel=" << qvel
<< ", lvlimit =" << lvlimit
Expand Down Expand Up @@ -270,7 +271,8 @@ RTC::ReturnCode_t SoftErrorLimiter::onExecute(RTC::UniqueId ec_id)
llimit = it->second.getLlimit(m_qRef.data[it->second.getTargetJointId()]);
ulimit = it->second.getUlimit(m_qRef.data[it->second.getTargetJointId()]);
}
bool servo_limit_state = ((llimit > m_qRef.data[i]) || (ulimit < m_qRef.data[i]));
// fixed joint have vlimit = ulimit
bool servo_limit_state = (llimit < ulimit) && ((llimit > m_qRef.data[i]) || (ulimit < m_qRef.data[i]));
if ( servo_state[i] == 1 && servo_limit_state ) {
if (loop % debug_print_freq == 0 || debug_print_position_first) {
std::cerr << "position limit over " << m_robot->joint(i)->name << "(" << i << "), qRef=" << m_qRef.data[i]
Expand Down