Refactor YarpRobotControl::setReferences function to include optional current joint values and avoid to switch control mode in YarpRobotControl::setReferences #833
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… current joint values and avoid to switch control mode in YarpRobotControl::setReferences
S-Dafarra
approved these changes
Apr 5, 2024
| @@ -486,17 +530,13 @@ def advance(self): | |||
| return True | |||
|
|
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| def __del__(self): | |||
| print("chiudo tutto e devo mori") | |||
Co-authored-by: Stefano Dafarra <stefano.dafarra@gmail.com>
Co-authored-by: Stefano Dafarra <stefano.dafarra@gmail.com>
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This pull request restructures YarpRobotControl in the following manner:
YarpRobotControl::setReferences. Refer to issue Avoid to switch the control mode in setReference of the RobotControlHelper #820 for more details.YarpRobotControl::setReferencesavoids calling getEncoders from the interface to check if the maximum error is lower than the acceptable threshold.Finally, it updates the utilities to work with the new modifications
Warning
As previously mentioned in issue #820, upon merging this PR, several existing code instances will stop functioning. Users should update their code by calling
YarpRobotControl::setControlMode()with the desired control mode once before entering the main control loop.