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fix code maketooltrajectory return values #17

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merged 1 commit into from
Nov 19, 2019
Merged

fix code maketooltrajectory return values #17

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2 changes: 2 additions & 0 deletions src/robotis_manipulator/robotis_manipulator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1256,6 +1256,8 @@ bool RobotisManipulator::makeToolTrajectory(Name tool_name, double tool_goal_pos
{
return trajectory_.setToolGoalValue(tool_name, tool_value);
}
else
return false;
}

JointWaypoint RobotisManipulator::getTrajectoryJointValue(double tick_time) //Private
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2 changes: 2 additions & 0 deletions src/robotis_manipulator/robotis_manipulator_trajectory_generator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -483,12 +483,14 @@ bool Trajectory::makeCustomTrajectory(Name trajectory_name, TaskWaypoint start_w
bool Trajectory::setToolGoalPosition(Name tool_name, double tool_goal_position)
{
manipulator_.setJointPosition(tool_name, tool_goal_position);
return true;
}


bool Trajectory::setToolGoalValue(Name tool_name, JointValue tool_goal_value)
{
manipulator_.setJointValue(tool_name, tool_goal_value);
return true;
}

double Trajectory::getToolGoalPosition(Name tool_name)
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