From faf93101a55d070cbd854900cf84cf8b33e31639 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <olivier.stasse@gmail.com>
Date: Thu, 11 Jul 2013 11:18:27 +0200
Subject: [PATCH] Fix bug in computing the parallel joint state.
---
src/sot_loader.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/sot_loader.cpp b/src/sot_loader.cpp
index 60b18e5..375977a 100644
--- a/src/sot_loader.cpp
+++ b/src/sot_loader.cpp
@@ -226,7 +226,7 @@ SotLoader::readControl(map<string,dgs::ControlValues> &controlValues)
for(unsigned int i=0;i<parallel_joints_to_state_vector_.size();i++)
{
joint_state_.position[i+nbOfJoints_] =
- coefficient_parallel_joints_[i]*parallel_joints_to_state_vector_[i];
+ coefficient_parallel_joints_[i]*angleControl_[parallel_joints_to_state_vector_[i]];
}
joint_pub_.publish(joint_state_);
--
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