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Added missing case for external axes #94

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merged 2 commits into from
May 26, 2020
Merged

Added missing case for external axes #94

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7f8d52b
Added missing case
jontje Apr 27, 2020
9b69948
Merge branch 'master' into fix_external_axes_support
jontje May 26, 2020
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14 changes: 14 additions & 0 deletions src/egm_base_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -592,6 +592,20 @@ bool EGMBaseInterface::OutputContainer::constructJointBody(const BaseConfigurati

switch (configuration.axes)
{
case None:
{
if (robot_velocity.values_size() == 0)
{
for (int i = 0; i < external_velocity.values_size() && i < ext_condition; ++i)
{
speed_reference->mutable_externaljoints()->add_joints(external_velocity.values(i));
}

speed_ok = true;
}
}
break;
Comment on lines +595 to +607
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Would perhaps be nice to add a line or two of comments explaining why this is necessary.


case Six:
{
if (robot_velocity.values_size() == rob_condition)
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