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fix forward_velocity_kinematics #3

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fix forward_velocity_kinematics #3

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11 changes: 6 additions & 5 deletions src/baxter_pykdl/baxter_pykdl.py
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Original file line number Diff line number Diff line change
Expand Up @@ -96,8 +96,6 @@ def joints_to_kdl(self, type, values=None):

for idx, name in enumerate(self._joint_names):
kdl_array[idx] = cur_type_values[name]
if type == 'velocities':
kdl_array = PyKDL.JntArrayVel(kdl_array)
return kdl_array

def kdl_to_mat(self, data):
Expand All @@ -117,10 +115,13 @@ def forward_position_kinematics(self,joint_values=None):
return np.array([pos[0], pos[1], pos[2],
rot[0], rot[1], rot[2], rot[3]])

def forward_velocity_kinematics(self,joint_velocities=None):
def forward_velocity_kinematics(self,joint_values=None,joint_velocities=None):
end_frame = PyKDL.FrameVel()
self._fk_v_kdl.JntToCart(self.joints_to_kdl('velocities',joint_velocities),
end_frame)

kdl_JntArray_pos = self.joints_to_kdl('positions',joint_values)
kdl_JntArray_vel = self.joints_to_kdl('velocities',joint_velocities)
kdl_JntArrayVel = PyKDL.JntArrayVel(kdl_JntArray_pos, kdl_JntArray_vel)
self._fk_v_kdl.JntToCart(kdl_JntArrayVel, end_frame)
return end_frame.GetTwist()

def inverse_kinematics(self, position, orientation=None, seed=None):
Expand Down