From 4cca5838e678e981ba8b2d805961f660f5b5d4d4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jos=C3=A9=20Luis=20Rivero=20Partida?= <jrivero@iri.upc.edu>
Date: Thu, 26 May 2011 14:19:31 +0000
Subject: [PATCH] Remove kinemathic restriction.
This should be consider in upper levels and leave the low level to really
do any kind of movement.
---
src/segway_RMP400.cpp | 10 ----------
1 file changed, 10 deletions(-)
diff --git a/src/segway_RMP400.cpp b/src/segway_RMP400.cpp
index ee1951e..6bff384 100644
--- a/src/segway_RMP400.cpp
+++ b/src/segway_RMP400.cpp
@@ -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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