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Stack Of Tasks
sot-talos
Commits
c891be60
Commit
c891be60
authored
Oct 02, 2017
by
Olivier Stasse
Browse files
Remove robotState member hidding the enherited one from sot::core::Device.
parent
af2c36ac
Changes
2
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src/sot-talos-device.cpp
View file @
c891be60
...
...
@@ -61,7 +61,6 @@ SoTTalosDevice::SoTTalosDevice(std::string RobotName):
dgsot
::
Device
(
RobotName
),
timestep_
(
TIMESTEP_DEFAULT
),
previousState_
(),
robotState_
(
"StackOfTasks("
+
RobotName
+
")::output(vector)::robotState"
),
baseff_
(),
accelerometerSOUT_
(
"StackOfTasks("
+
RobotName
+
")::output(vector)::accelerometer"
),
...
...
src/sot-talos-device.hh
View file @
c891be60
...
...
@@ -64,14 +64,6 @@ protected:
/// \brief Previous robot configuration.
dg
::
Vector
previousState_
;
/// \brief Robot state provided by OpenHRP.
///
/// This corresponds to the real encoders values and take into
/// account the stabilization step. Therefore, this usually
/// does *not* match the state control input signal.
///
dg
::
Signal
<
dg
::
Vector
,
int
>
robotState_
;
/// Intermediate variables to avoid allocation during control
std
::
vector
<
double
>
baseff_
;
...
...
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