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[pepper-interface.l] add error-vector method, this requires ros-naoqi…

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k-okada committed May 14, 2015
1 parent 2efdbee commit 096d046e5071a82af36666bdb2aeb0d8af59e943
Showing with 2 additions and 0 deletions.
  1. +2 −0 jsk_pepper_robot/peppereus/pepper-interface.l
@@ -35,6 +35,8 @@
(cons :joint-names (mapcar #'(lambda (n) (if (symbolp n) (symbol-name n) n)) (send-all (send robot :joint-list) :name))))
))
;;
(:error-vector () (map float-vector #'rad2deg (send self :state :effort)))
;;
(:servo-on () (send self :send-stiffness-controller 1.0))
(:servo-off () (send self :send-stiffness-controller 0.0))
(:send-stiffness-controller

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