Commit 4cca5838 authored by José Luis Rivero Partida's avatar José Luis Rivero Partida
Browse files

Remove kinemathic restriction.

This should be consider in upper levels and leave the low level to really
do any kind of movement.
parent aecfc1dd
......@@ -252,16 +252,6 @@ CSegwayRMP400::move(float vT, float vR)
{
need_to_be_connected();
float vRradsec = vR;
if (fabs(vT) < fabs(RMP400_b * vRradsec / 2)) {
// minimum translational velocity needed to enforce rotation about a ICR outside of the robot base
if(vT>=0.0)
vT = fabs(RMP400_b * vRradsec / 2);
else
vT = -fabs(RMP400_b * vRradsec / 2);
}
for (int i=0 ;i < segways_.size(); i++)
segways_[i]->move(vT,vR);
}
......
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