Author Topic: getLastExecutedMotion() method - problem  (Read 230 times)

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Offline Marhy

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getLastExecutedMotion() method - problem
« on: March 28, 2018, 06:52:46 PM »
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!
« Last Edit: April 05, 2018, 05:35:22 AM by Marhy »