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Stack Of Tasks
sot-talos
Commits
af2c36ac
Commit
af2c36ac
authored
Sep 25, 2017
by
Olivier Stasse
Browse files
Remove registration of robotState_ signal because it is done upstream now.
parent
88e4c36c
Changes
1
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Inline
Side-by-side
src/sot-talos-device.cpp
View file @
af2c36ac
...
...
@@ -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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