Merge branch 'master' of github.com:stack-of-tasks/sot-core

andreadelprete · andreadelprete · commit b1fddb247c38 · 2015-02-19T10:54:06.000+01:00
diff --git a/src/tools/device.cpp b/src/tools/device.cpp
@@ -385,7 +385,9 @@ void Device::integrate( const double & dt )
 
   if (controlInputType_==CONTROL_INPUT_POSITION)
   {
-    state_ = control;
+    assert(state_.size()==control.size()+6);
+    for( unsigned int i=0;i<control.size();++i )
+      state_(i+6) = control(i);
     return;
   }
 

Original file line number	Diff line number	Diff line change
`@@ -385,7 +385,9 @@ void Device::integrate( const double & dt )`
`385`	`385`
`386`	`386`	`if (controlInputType_==CONTROL_INPUT_POSITION)`
`387`	`387`	`{`
`388`		`- state_ = control;`
	`388`	`+ assert(state_.size()==control.size()+6);`
	`389`	`+ for( unsigned int i=0;i<control.size();++i )`
	`390`	`+ state_(i+6) = control(i);`
`389`	`391`	`return;`
`390`	`392`	`}`
`391`	`393`