1. Will Dickson
  2. sixaxff

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Will Dickson  committed 10d10bf

Inserted note in sixaxff concerning setting the tool transform dynamically
during the run in order to get the component of force in the forward direction.

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  • Parent commits 254a070
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File lib/sixaxff.c

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  • Ignore whitespace
 
         now_ns = rt_get_time_ns();
 
+        // TODO /////////////////////////////////////////////////////////////
+        //
+        // Set six axis sensor tool transform based on current position of the
+        // robot. Need to set this dynamically to get the force in the forward
+        // direction as the sensor pitches with the robot.
+        //
+        // /////////////////////////////////////////////////////////////////// 
+
         // Update dynamic state
         if (update_state(state, t, &ft_info, comedi_info,config) != SUCCESS) {
             PRINT_ERR_MSG("updating dynamic state failed");