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
IMotionContainer myTrajectory;
.
.
SplineJP sp = new SplineJP(spMotions);
.
.
myTrajectory= lbr.move(sp);
.
.
if (myTrajectory.hasFired(forceTCP)){
IMotion nextPosition = myTrajectory.getLastExecutedMotion();
}
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Thank you
Marhy
edit: solved!