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[WIP/wontfix] :angle-vector change :start-time as keyward arguments #302

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[WIP/wontfix] :angle-vector change :start-time as keyward arguments #302

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:angle-vector change :start-time as keyward arguments
k-okada Jun 22, 2017
a67cf95
Merge branch 'master' into fix_angle-vector
k-okada Jun 22, 2017
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6 changes: 3 additions & 3 deletions pr2eus/robot-interface.l
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Original file line number Diff line number Diff line change
Expand Up @@ -345,7 +345,7 @@
(let* ((prev-av (send robot :angle-vector)))
(send-all (gethash ctype controller-table) :push-angle-vector-simulation av tm prev-av)))
(:angle-vector
(av &optional (tm nil) (ctype controller-type) (start-time 0) &key (scale 1) (min-time 1.0) (end-coords-interpolation nil))
(av &optional (tm nil) (ctype controller-type) &key (start-time 0) (scale 1) (min-time 1.0) (end-coords-interpolation nil))
"Send joind angle to robot, this method retuns immediately, so use :wait-interpolation to block until the motion stops.
- av : joint angle vector [rad]
- tm : (time to goal in [msec])
Expand All @@ -359,7 +359,7 @@
- end-coords-interpolation : set t if you want to move robot in cartesian space interpolation
"
(if end-coords-interpolation
(return-from :angle-vector (send self :angle-vector-sequence (list av) (list tm) ctype start-time :scale scale :min-time min-time :end-coords-interpolation t)))
(return-from :angle-vector (send self :angle-vector-sequence (list av) (list tm) ctype :start-time start-time :scale scale :min-time min-time :end-coords-interpolation t)))
(setq ctype (or ctype controller-type)) ;; use default controller-type if ctype is nil
(unless (gethash ctype controller-table)
(warn ";; controller-type: ~A not found" ctype)
Expand Down Expand Up @@ -400,7 +400,7 @@
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) (end-coords-interpolation nil))
(avs &optional (tms (list 3000)) (ctype controller-type) &key (start-time 0.1) (scale 1) (min-time 0.0) (end-coords-interpolation 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 Down