Revision: 7230
http://playerstage.svn.sourceforge.net/playerstage/?rev=7230&view=rev
Author: thjc
Date: 2009-01-04 00:59:31 +0000 (Sun, 04 Jan 2009)
Log Message:
-----------
allow eedhcontroller to work with nr joints != 6
Modified Paths:
--------------
code/player/branches/release-2-1-patches/server/drivers/limb/eeDHcontroller.cc
Modified:
code/player/branches/release-2-1-patches/server/drivers/limb/eeDHcontroller.cc
===================================================================
---
code/player/branches/release-2-1-patches/server/drivers/limb/eeDHcontroller.cc
2009-01-03 23:39:30 UTC (rev 7229)
+++
code/player/branches/release-2-1-patches/server/drivers/limb/eeDHcontroller.cc
2009-01-04 00:59:31 UTC (rev 7230)
@@ -243,7 +243,7 @@
nr_joints = cf->ReadInt (section, "nr_joints", 0);
// Create initial DH parameters model
- DHMatrixModel = Matrix (6, 23);
+ DHMatrixModel = Matrix (nr_joints, 23);
DHMatrixModel = 0;
actarray_state = new int[nr_joints];
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