Revision: 7019
http://playerstage.svn.sourceforge.net/playerstage/?rev=7019&view=rev
Author: natepak
Date: 2008-09-10 13:06:21 +0000 (Wed, 10 Sep 2008)
Log Message:
-----------
Applied patch 2102886
Modified Paths:
--------------
code/gazebo/trunk/server/controllers/position2d/steering/Steering_Position2d.cc
Modified:
code/gazebo/trunk/server/controllers/position2d/steering/Steering_Position2d.cc
===================================================================
---
code/gazebo/trunk/server/controllers/position2d/steering/Steering_Position2d.cc
2008-09-10 03:51:13 UTC (rev 7018)
+++
code/gazebo/trunk/server/controllers/position2d/steering/Steering_Position2d.cc
2008-09-10 13:06:21 UTC (rev 7019)
@@ -129,7 +129,11 @@
FullWheel *wheel=new FullWheel();
wheel->Connect(this->myParent->GetJoint(jointName), type);
- wheel->SetTorque(torque);
+ // If the wheel is not full, FMax2 should be 0 otherwise joint will lock
+ if(type == FULL)
+ wheel->SetTorque(torque);
+ else
+ wheel->SetTorque(0);
wheel->SetSteerTorque(steerTorque);
wheel->SetSteerPD(steerKp, steerKd);
wheel->SetSteerMaxAngle(maxAngle);
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