December 16, 2018, 06:52:53 AM
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 getLastExecutedMotion() method - problem


Author Topic:  getLastExecutedMotion() method - problem  (Read 386 times)

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March 28, 2018, 06:52:46 PM
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Marhy


Hi guys,

i have a problem with method getLastExecutedMotion(); (code bellow)
This method should return a joint angles of next commanded position from my motion container (myTrajectory).
In motion container (myTrajectory) i have a sequence of motions - ptp(angles in radians).
The obtained values from this method (getLastExecutedMotion()) are not exactly the same (like in spMotions field). There are a little differences, in the range of decimal places.

where could be a problem?

Code: [Select]

IMotionContainer myTrajectory;
                    .
                    .
SplineJP sp = new SplineJP(spMotions);
                    .
                    .
myTrajectory= lbr.move(sp);
                    .
                    .
if (myTrajectory.hasFired(forceTCP)){   
IMotion nextPosition = myTrajectory.getLastExecutedMotion();
}

Thank you

Marhy

edit: solved!

Linkback: https://www.robot-forum.com/robotforum/index.php?topic=26310.0
« Last Edit: April 05, 2018, 05:35:22 AM by Marhy »

Today at 06:52:53 AM
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