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Fix admittance controller interface read/write logic (#1232)
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(cherry picked from commit 33e35f0)
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Nibanovic authored and mergify[bot] committed Jul 31, 2024
1 parent 1cdaacb commit bdbb590
Showing 1 changed file with 6 additions and 6 deletions.
12 changes: 6 additions & 6 deletions admittance_controller/src/admittance_controller.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -480,13 +480,13 @@ void AdmittanceController::read_state_from_hardware(
state_interfaces_[pos_ind * num_joints_ + joint_ind].get_value();
nan_position |= std::isnan(state_current.positions[joint_ind]);
}
else if (has_velocity_state_interface_)
if (has_velocity_state_interface_)
{
state_current.velocities[joint_ind] =
state_interfaces_[vel_ind * num_joints_ + joint_ind].get_value();
nan_velocity |= std::isnan(state_current.velocities[joint_ind]);
}
else if (has_acceleration_state_interface_)
if (has_acceleration_state_interface_)
{
state_current.accelerations[joint_ind] =
state_interfaces_[acc_ind * num_joints_ + joint_ind].get_value();
Expand Down Expand Up @@ -532,15 +532,15 @@ void AdmittanceController::write_state_to_hardware(
command_interfaces_[pos_ind * num_joints_ + joint_ind].set_value(
state_commanded.positions[joint_ind]);
}
else if (has_velocity_command_interface_)
if (has_velocity_command_interface_)
{
command_interfaces_[vel_ind * num_joints_ + joint_ind].set_value(
state_commanded.positions[joint_ind]);
state_commanded.velocities[joint_ind]);
}
else if (has_acceleration_command_interface_)
if (has_acceleration_command_interface_)
{
command_interfaces_[acc_ind * num_joints_ + joint_ind].set_value(
state_commanded.positions[joint_ind]);
state_commanded.accelerations[joint_ind]);
}
}
last_commanded_ = state_commanded;
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