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[pr2eus] Allow initial av in angle-vector-sequence #270

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[pr2eus] Allow initial av in angle-vector-sequence #270

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7 changes: 6 additions & 1 deletion pr2eus/robot-interface.l
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Original file line number Diff line number Diff line change
Expand Up @@ -397,7 +397,7 @@
cacts (send self ctype)))
av)
(:angle-vector-sequence
(avs &optional (tms (list 3000)) (ctype controller-type) (start-time 0.1) &key (scale 1) (min-time 0.0))
(avs &optional (tms (list 3000)) (ctype controller-type) (start-time 0.1) &key (scale 1) (min-time 0.0) (allow-initial-av nil))
"Send joind angle to robot, this method retuns immediately, so use :wait-interpolation to block until the motion stops."
(setq ctype (or ctype controller-type)) ;; use default controller-type if ctype is nil
(unless (gethash ctype controller-table)
Expand All @@ -421,6 +421,11 @@
(setq av (pop avs))
(setq fastest-tm (* 1000 (send self :angle-vector-duration av-prev av scale min-time ctype)))
(setq tm (pop tms))
(when allow-initial-av ;; let first tm be zero
(when (and (numberp tm) (= tm 0))
(warning-message 3 "[robot-interface.l] (angle-vector-sequence) let first tm be zero~%")
(setq fastest-tm 0))
(setq allow-initial-av nil))
(cond
((equal tm :fast)
(setq tm fastest-tm))
Expand Down