Fix reference joint angle used to calculate error.

[snozawa]

SoftErrorLimitのErrorの計算時に、
今までは入力指令関節角と実関節角との比較になってましたが、
posとvelのlimit制限をおえた指令関節角と実関節角との比較になしました
（研究室内の旧システムはそうなっていました）。
よろしくお願いします。

[k-okada]

Refer to this link for build results (access rights to CI server needed):
http://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/hrpsys-qnx/2574/

Build Log
last 10 lines

[...truncated 8556 lines...]
    at org.jenkinsci.plugins.ghprb.GhprbRepository.createCommitStatus(GhprbRepository.java:122)
    at org.jenkinsci.plugins.ghprb.GhprbBuilds.onCompleted(GhprbBuilds.java:118)
    at org.jenkinsci.plugins.ghprb.GhprbBuildListener.onCompleted(GhprbBuildListener.java:27)
    at org.jenkinsci.plugins.ghprb.GhprbBuildListener.onCompleted(GhprbBuildListener.java:12)
    at hudson.model.listeners.RunListener.fireCompleted(RunListener.java:202)
    at hudson.model.Run.execute(Run.java:1783)
    at hudson.model.FreeStyleBuild.run(FreeStyleBuild.java:43)
    at hudson.model.ResourceController.execute(ResourceController.java:98)
    at hudson.model.Executor.run(Executor.java:410)

Test FAILed.

[k-okada]

CMakeFiles/RobotHardware.dir/robot.o -c /tmp/hrpsys-source-966-2016-04-04/src/hrpsys-base-966/rtc/RobotHardware/robot.cpp
/tmp/hrpsys-source-966-2016-04-04/src/hrpsys-base-966/rtc/RobotHardware/robot.cpp: In member function 'bool robot::checkEmergency(robot::emg_reason&, int&)':
/tmp/hrpsys-source-966-2016-04-04/src/hrpsys-base-966/rtc/RobotHardware/robot.cpp:607: error: 'SS_EMERGENCY' was not declared in this scope
/tmp/hrpsys-source-966-2016-04-04/src/hrpsys-base-966/rtc/RobotHardware/robot.cpp: In member function 'void robot::readBatteryState(unsigned int, double&, double&, double&)':
/tmp/hrpsys-source-966-2016-04-04/src/hrpsys-base-966/rtc/RobotHardware/robot.cpp:774: error: 'read_battery' was not declared in this scope
/tmp/hrpsys-source-966-2016-04-04/src/hrpsys-base-966/rtc/RobotHardware/robot.cpp: In member function 'int robot::numBatteries()':
/tmp/hrpsys-source-966-2016-04-04/src/hrpsys-base-966/rtc/RobotHardware/robot.cpp:783: error: 'number_of_batteries' was not declared in this scope
/tmp/hrpsys-source-966-2016-04-04/src/hrpsys-base-966/rtc/RobotHardware/robot.cpp: In member function 'int robot::numThermometers()':
/tmp/hrpsys-source-966-2016-04-04/src/hrpsys-base-966/rtc/RobotHardware/robot.cpp:801: error: 'number_of_thermometers' was not declared in this scope
cc: /usr/qnx650/host/qnx6/x86/usr/lib/gcc/i486-pc-nto-qnx6.5.0/4.4.2/cc1plus error 1
make[2]: *** [rtc/RobotHardware/CMakeFiles/RobotHardware.dir/robot.o] Error 1
make[2]: Leaving directory `/tmp/hrpsys-source-966-2016-04-04/build'
make[1]: *** [rtc/RobotHardware/CMakeFiles/RobotHardware.dir/all] Error 2
make[1]: Leaving directory `/tmp/hrpsys-source-966-2016-04-04/build'

ヘッダファイルのバージョンでえ切り分けしないといけないパターンでしょうか．

[snozawa]

ヘッダファイルのバージョンでえ切り分けしないといけないパターンでしょうか．

そのようですね。

このPRが
#842 (comment)
関係してそうで、確かに上記のタイミングでエラーになってそうでした。

[k-okada]

[ 27%] Building CXX object rtc/RobotHardware/CMakeFiles/RobotHardware.dir/robot.o
cd /tmp/hrpsys-source-966-2016-04-04/build/rtc/RobotHardware && /usr/qnx650/host/qnx6/x86/usr/bin/QCC  -x c++ -DRobotHardware_EXPORTS -DROBOT_IOB_VERSION=2 -I/usr/pkg/include -O3 -DNDEBUG -I/usr/local/include -I/opt/jsk/include -I/usr/pkg/include -I/tmp/hrpsys-source-966-2016-04-04/src/hrpsys-base-966/../../include -I/opt/jsk/include/coil-1.1 -I/opt/jsk/include/openrtm-1.1 -I/opt/jsk/include/openrtm-1.1/rtm/idl -I/opt/jsk/include/OpenHRP-3.1 -I/opt/jsk/include/eigen3 -I/tmp/hrpsys-source-966-2016-04-04/build   -DHRPSYS_PACKAGE_VERSION="\"315.7.0\"" -o CMakeFiles/RobotHardware.dir/robot.o -c /tmp/hrpsys-source-966-2016-04-04/src/hrpsys-base-966/rtc/RobotHardware/robot.cpp

みると，ソースツリーのiob.h にパスが通っていないような気がしませんか？