From bdbb590e1576e46e3939bd9029f9038e064071f4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Nikola=20Banovi=C4=87?= Date: Wed, 31 Jul 2024 20:04:46 +0200 Subject: [PATCH] Fix admittance controller interface read/write logic (#1232) (cherry picked from commit 33e35f0cf330d51290c13405e5af04544c795fe5) --- admittance_controller/src/admittance_controller.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/admittance_controller/src/admittance_controller.cpp b/admittance_controller/src/admittance_controller.cpp index c6a8168736..22d25bb8b1 100644 --- a/admittance_controller/src/admittance_controller.cpp +++ b/admittance_controller/src/admittance_controller.cpp @@ -480,13 +480,13 @@ void AdmittanceController::read_state_from_hardware( state_interfaces_[pos_ind * num_joints_ + joint_ind].get_value(); nan_position |= std::isnan(state_current.positions[joint_ind]); } - else if (has_velocity_state_interface_) + if (has_velocity_state_interface_) { state_current.velocities[joint_ind] = state_interfaces_[vel_ind * num_joints_ + joint_ind].get_value(); nan_velocity |= std::isnan(state_current.velocities[joint_ind]); } - else if (has_acceleration_state_interface_) + if (has_acceleration_state_interface_) { state_current.accelerations[joint_ind] = state_interfaces_[acc_ind * num_joints_ + joint_ind].get_value(); @@ -532,15 +532,15 @@ void AdmittanceController::write_state_to_hardware( command_interfaces_[pos_ind * num_joints_ + joint_ind].set_value( state_commanded.positions[joint_ind]); } - else if (has_velocity_command_interface_) + if (has_velocity_command_interface_) { command_interfaces_[vel_ind * num_joints_ + joint_ind].set_value( - state_commanded.positions[joint_ind]); + state_commanded.velocities[joint_ind]); } - else if (has_acceleration_command_interface_) + if (has_acceleration_command_interface_) { command_interfaces_[acc_ind * num_joints_ + joint_ind].set_value( - state_commanded.positions[joint_ind]); + state_commanded.accelerations[joint_ind]); } } last_commanded_ = state_commanded;