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[jskeus/irteus/irtmodel.l] fix target joint table in :angle-vector #477

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[jskeus/irteus/irtmodel.l] fix target joint table in :angle-vector #477

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8 changes: 4 additions & 4 deletions irteus/irtmodel.l
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Original file line number Diff line number Diff line change
Expand Up @@ -817,8 +817,8 @@
(setq tmp-joint-angle (elt vec i) tmp-target-joint-angle (elt vec ii))
(setq tmp-joint-min-angle (send j :joint-min-max-table-min-angle tmp-target-joint-angle)
tmp-joint-max-angle (send j :joint-min-max-table-max-angle tmp-target-joint-angle))
(setq tmp-target-joint-min-angle (send j :joint-min-max-table-min-angle tmp-joint-angle)
tmp-target-joint-max-angle (send j :joint-min-max-table-max-angle tmp-joint-angle))
(setq tmp-target-joint-min-angle (send jj :joint-min-max-table-min-angle tmp-joint-angle)
tmp-target-joint-max-angle (send jj :joint-min-max-table-max-angle tmp-joint-angle))
(cond ((<= tmp-joint-min-angle tmp-joint-angle tmp-joint-max-angle) ;; ok
;; force change joint-angle to avoid problem
(setq (j . joint-angle) tmp-joint-angle
Expand All @@ -829,8 +829,8 @@
((> i 1))
(setq tmp-joint-min-angle (send j :joint-min-max-table-min-angle tmp-target-joint-angle)
tmp-joint-max-angle (send j :joint-min-max-table-max-angle tmp-target-joint-angle))
(setq tmp-target-joint-min-angle (send j :joint-min-max-table-min-angle tmp-joint-angle)
tmp-target-joint-max-angle (send j :joint-min-max-table-max-angle tmp-joint-angle))
(setq tmp-target-joint-min-angle (send jj :joint-min-max-table-min-angle tmp-joint-angle)
tmp-target-joint-max-angle (send jj :joint-min-max-table-max-angle tmp-joint-angle))

(if (< tmp-joint-angle tmp-joint-min-angle)
(incf tmp-joint-angle (* (- tmp-joint-min-angle tmp-joint-angle) i)))
Expand Down