From efd69d9ab45710bff9726610066a3e45078bee25 Mon Sep 17 00:00:00 2001
From: Simon Gabl <simon.gabl@franka.de>
Date: Mon, 28 May 2018 15:45:44 +0200
Subject: [PATCH] Set empty elbow when only Cartesian velocities are commanded.
---
.../include/franka_hw/franka_cartesian_command_interface.h | 6 ++++--
1 file changed, 4 insertions(+), 2 deletions(-)
diff --git a/franka_hw/include/franka_hw/franka_cartesian_command_interface.h b/franka_hw/include/franka_hw/franka_cartesian_command_interface.h
index 1e04ce7..df4a98c 100644
--- a/franka_hw/include/franka_hw/franka_cartesian_command_interface.h
+++ b/franka_hw/include/franka_hw/franka_cartesian_command_interface.h
@@ -32,7 +32,6 @@ class FrankaCartesianPoseHandle : public FrankaStateHandle {
* Sets the given command.
*
* @param[in] command Command to set.
- * @param[in] elbow Elbow to set. Default none.
*/
void setCommand(const std::array<double, 16>& command) noexcept {
*command_ = command;
@@ -92,7 +91,10 @@ class FrankaCartesianVelocityHandle : public FrankaStateHandle {
*
* @param[in] command Command to set.
*/
- void setCommand(std::array<double, 6>& command) noexcept { *command_ = command; }
+ void setCommand(std::array<double, 6>& command) noexcept {
+ *command_ = command;
+ *elbow_ = {};
+ }
/**
* Sets the given command.
--
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