Commit af2c36ac authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Remove registration of robotState_ signal because it is done upstream now.

parent 88e4c36c
......@@ -78,13 +78,12 @@ SoTTalosDevice::SoTTalosDevice(std::string RobotName):
RESETDEBUG5();
sotDEBUGIN(25) ;
for( int i=0;i<4;++i ) { withForceSignals[i] = true; }
signalRegistration (robotState_ << accelerometerSOUT_ << gyrometerSOUT_
signalRegistration (accelerometerSOUT_ << gyrometerSOUT_
<< currentSOUT_ << p_gainsSOUT_ << d_gainsSOUT_);
dg::Vector data (3); data.setZero ();
accelerometerSOUT_.setConstant (data);
gyrometerSOUT_.setConstant (data);
baseff_.resize(7);
using namespace dynamicgraph::command;
std::string docstring;
/* Command increment. */
......@@ -97,7 +96,6 @@ SoTTalosDevice::SoTTalosDevice(std::string RobotName):
addCommand("increment",
makeCommandVoid1((Device&)*this,
&Device::increment, docstring));
sotDEBUGOUT(25);
}
......
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