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RMLVelocityTask: send zero-velocities if no references were received for some time #5

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RMLVelocityTask: send zero-velocities if no references were received for some time #5

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27 changes: 20 additions & 7 deletions tasks/RMLVelocityTask.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,17 +56,30 @@ bool RMLVelocityTask::updateTarget(RMLInputParameters* new_input_parameters){
fs = fs_constr_target;

if(fs == RTT::NewData){
time_of_last_reference = base::Time::now();
has_target = true;
target.validate();
target2RmlTypes(target, motion_constraints, *(RMLVelocityInputParameters*)new_input_parameters);
}else{
double duration = (base::Time::now() - time_of_last_reference).toSeconds();
if(duration > no_reference_timeout){
LOG_WARN_S << "Duration since receving last reference is "<<duration<<". Stopping motion.";
for(base::JointState& js : target.elements){
js.speed = 0;
}
}
has_target = true;
target.validate();
}

target2RmlTypes(target, motion_constraints, *(RMLVelocityInputParameters*)new_input_parameters);
#ifdef USING_REFLEXXES_TYPE_IV
// Workaround: If an element is close to a position limit and the target velocity is pointing in direction of the limit, the sychronization time is computed by
// reflexxes as if the constrained joint could move freely in the direction of the limit. This leads to incorrect synchronization time for all other elements.
// Set the target velocity to zero in this case!
if(rml_flags->PositionalLimitsBehavior == POSITIONAL_LIMITS_ACTIVELY_PREVENT)
fixRmlSynchronizationBug(cycle_time, *(RMLVelocityInputParameters*)new_input_parameters);
// Workaround: If an element is close to a position limit and the target velocity is pointing in direction of the limit, the sychronization time is computed by
// reflexxes as if the constrained joint could move freely in the direction of the limit. This leads to incorrect synchronization time for all other elements.
// Set the target velocity to zero in this case!
if(rml_flags->PositionalLimitsBehavior == POSITIONAL_LIMITS_ACTIVELY_PREVENT)
fixRmlSynchronizationBug(cycle_time, *(RMLVelocityInputParameters*)new_input_parameters);
#endif
}



return has_target;
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