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): ...@@ -78,13 +78,12 @@ SoTTalosDevice::SoTTalosDevice(std::string RobotName):
RESETDEBUG5(); RESETDEBUG5();
sotDEBUGIN(25) ; sotDEBUGIN(25) ;
for( int i=0;i<4;++i ) { withForceSignals[i] = true; } for( int i=0;i<4;++i ) { withForceSignals[i] = true; }
signalRegistration (robotState_ << accelerometerSOUT_ << gyrometerSOUT_ signalRegistration (accelerometerSOUT_ << gyrometerSOUT_
<< currentSOUT_ << p_gainsSOUT_ << d_gainsSOUT_); << currentSOUT_ << p_gainsSOUT_ << d_gainsSOUT_);
dg::Vector data (3); data.setZero (); dg::Vector data (3); data.setZero ();
accelerometerSOUT_.setConstant (data); accelerometerSOUT_.setConstant (data);
gyrometerSOUT_.setConstant (data); gyrometerSOUT_.setConstant (data);
baseff_.resize(7); baseff_.resize(7);
using namespace dynamicgraph::command; using namespace dynamicgraph::command;
std::string docstring; std::string docstring;
/* Command increment. */ /* Command increment. */
...@@ -97,7 +96,6 @@ SoTTalosDevice::SoTTalosDevice(std::string RobotName): ...@@ -97,7 +96,6 @@ SoTTalosDevice::SoTTalosDevice(std::string RobotName):
addCommand("increment", addCommand("increment",
makeCommandVoid1((Device&)*this, makeCommandVoid1((Device&)*this,
&Device::increment, docstring)); &Device::increment, docstring));
sotDEBUGOUT(25); sotDEBUGOUT(25);
} }
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment