Remove vel smoothing from decTrajPtFull.

Similar to decTrajPt: this code has been moved to interpolateVel and motionControl. Ref: 7a51706.
ros-industrial · Mar 12, 2020 · 9ee7d2e · 9ee7d2e
1 parent 397e5bc
commit 9ee7d2e
Showing 1 changed file with 0 additions and 11 deletions.
diff --git a/staubli_val3_driver/val3/ros_server/decTrajPtFull.pgx b/staubli_val3_driver/val3/ros_server/decTrajPtFull.pgx
@@ -69,22 +69,11 @@
 
   // velocities[10]
   for l_nIndex=0 to 9 step 1
-    // Velocity buffer to smooth out last traj point
-    nVel[1] = nVel[0]
-    nVel[0] = rosTrajPtMsg.jointTrajPt.nVelocity
     l_nRetVal=fromBinary(rosTrajPtFMsg.body.nData[(l_nIndex*4)+56],4,"4.0l",rosTrajPtFMsg.jointTrajPtFull.nVelocities[l_nIndex])
     if(l_nRetVal!=1)
       x_bFlag=false
       return
     endIf
-    // Round to remove trailing decimal places from fromBinary()
-    rosTrajPtMsg.jointTrajPt.nVelocity = rosTrajPtMsg.jointTrajPt.nVelocity * 10000
-    rosTrajPtMsg.jointTrajPt.nVelocity = round(rosTrajPtMsg.jointTrajPt.nVelocity)
-    rosTrajPtMsg.jointTrajPt.nVelocity = rosTrajPtMsg.jointTrajPt.nVelocity / 10000
-    // Smooth last point in traj
-    if((rosTrajPtMsg.jointTrajPt.nVelocity == 0.1) and (rosTrajPtMsg.jointTrajPt.nSeq != 0))
-      rosTrajPtMsg.jointTrajPt.nVelocity = (nVel[0] - (nVel[1] - nVel[0]))
-    endIf
   endFor
 
   // accelerations[10]