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); This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. ------------------------------------------------------------------------- This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK & win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100&url=/ _______________________________________________ Playerstage-commit mailing list Playerstage-commit@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/playerstage-commit