rollback jointControlForDrawing
@@ -757,8 +757,8 @@ void OpenManipulator::jointControlForDrawing(Name tool_name, bool use_time)
if (platform_)
{
- //sendMultipleActuatorAngle(manipulator_.getAllActiveJointID(), goal_position);
- manipulator_.jointMove(goal_position, control_time_);
+ sendMultipleActuatorAngle(manipulator_.getAllActiveJointID(), goal_position);
+ //jointMove(goal_position, control_time_);
}
if (processing_)
@@ -806,7 +806,10 @@ void OpenManipulator::jointControlForDrawing(Name tool_name, bool use_time)
goal_position = kinematics_->inverse(&manipulator_, tool_name, getPoseForDrawing(object_, tick_time));
if (platform_)
+ {
sendMultipleActuatorAngle(manipulator_.getAllActiveJointID(), goal_position);
+ //jointMove(goal_position, control_time_);
+ }
if (processing_)
{
@@ -831,8 +834,8 @@ void OpenManipulator::jointControlForDrawing(Name tool_name, bool use_time)
if (platform_)
{
- //sendMultipleActuatorAngle(manipulator_.getAllActiveJointID(), goal_position);
- manipulator_.jointMove(goal_position, control_time_);
+ sendMultipleActuatorAngle(manipulator_.getAllActiveJointID(), goal_position);
+ //jointMove(goal_position, control_time_);
}
if (processing_)
