From 8e2055000c445f8be636f6869fcd5f65e3073164 Mon Sep 17 00:00:00 2001 From: Alberto Cardellino Date: Tue, 25 Jun 2019 09:58:49 +0000 Subject: [PATCH] parametric calibrator eth: bug fix due to new parking procedure fix error in loading startup position from HOME group --- .../parametricCalibratorEth/parametricCalibratorEth.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/libraries/icubmod/parametricCalibratorEth/parametricCalibratorEth.cpp b/src/libraries/icubmod/parametricCalibratorEth/parametricCalibratorEth.cpp index b540ccbb26..1f92f7d9e3 100644 --- a/src/libraries/icubmod/parametricCalibratorEth/parametricCalibratorEth.cpp +++ b/src/libraries/icubmod/parametricCalibratorEth/parametricCalibratorEth.cpp @@ -368,15 +368,15 @@ bool parametricCalibratorEth::open(yarp::os::Searchable& config) */ xtmp = homeGroup.findGroup("positionHome"); if (xtmp.size()-1!=n_joints) {yError() << deviceName << ": invalid number of PositionHome params"; return false;} - legacyStartupPosition.positions.resize(n_joints); + legacyParkingPosition.positions.resize(n_joints); for (i = 1; i < xtmp.size(); i++) - legacyStartupPosition.positions[i-1] = xtmp.get(i).asDouble(); + legacyParkingPosition.positions[i-1] = xtmp.get(i).asDouble(); xtmp = homeGroup.findGroup("velocityHome"); if (xtmp.size()-1!=n_joints) {yError() << deviceName << ": invalid number of VelocityHome params"; return false;} - legacyStartupPosition.velocities.resize(n_joints); + legacyParkingPosition.velocities.resize(n_joints); for (i = 1; i < xtmp.size(); i++) - legacyStartupPosition.velocities[i-1] = xtmp.get(i).asDouble(); + legacyParkingPosition.velocities[i-1] = xtmp.get(i).asDouble(); } // this parameter may be superseded by new park sequence mechanism, probably also for startup.