add getTrajectory function and fix bug

ROBOTIS-GIT · Feb 11, 2019 · 7f1d45c · 7f1d45c
1 parent 7b5d6a4
commit 7f1d45c
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Showing 2 changed files with 8 additions and 1 deletion.
diff --git a/include/robotis_manipulator/robotis_manipulator.h b/include/robotis_manipulator/robotis_manipulator.h
@@ -174,6 +174,8 @@ class RobotisManipulator
   /*****************************************************************************
   ** Trajectory Control Fuction
   *****************************************************************************/
+  Trajectory *getTrajectory();
+
   void makeJointTrajectoryFromPresentPosition(std::vector<double> delta_goal_joint_position, double move_time, std::vector<JointValue> present_joint_value = {});
   void makeJointTrajectory(std::vector<double> goal_joint_position, double move_time, std::vector<JointValue> present_joint_value = {});
   void makeJointTrajectory(std::vector<JointValue> goal_joint_value, double move_time, std::vector<JointValue> present_joint_value = {});

diff --git a/src/robotis_manipulator/robotis_manipulator.cpp b/src/robotis_manipulator/robotis_manipulator.cpp
@@ -153,7 +153,7 @@ Manipulator *RobotisManipulator::getManipulator()
 
 JointValue RobotisManipulator::getJointValue(Name joint_name)
 {
-  return manipulator_,getJointValue(joint_name);
+  return manipulator_.getJointValue(joint_name);
 }
 
 JointValue RobotisManipulator::getToolValue(Name tool_name)
@@ -910,6 +910,11 @@ bool RobotisManipulator::checkJointLimit(std::vector<Name> component_name, std::
 /*****************************************************************************
 ** Trajectory Control Fuction
 *****************************************************************************/
+Trajectory *RobotisManipulator::getTrajectory()
+{
+  return &trajectory_;
+}
+
 void RobotisManipulator::makeJointTrajectoryFromPresentPosition(std::vector<double> delta_goal_joint_position, double move_time, std::vector<JointValue> present_joint_value)
 {
   if(present_joint_value.size() != 0)