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[baxtereus] Allow initial av in angle-vector-sequence #741

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[baxtereus] Allow initial av in angle-vector-sequence #741

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4 changes: 2 additions & 2 deletions jsk_baxter_robot/baxtereus/baxter-interface.l
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Original file line number Diff line number Diff line change
Expand Up @@ -237,10 +237,10 @@
(send self :angle-vector-sequence-raw (list av) (list tm) ctype start-time :scale scale :min-time min-time))
(:angle-vector-sequence-raw (avs &optional (tms :fast) (ctype controller-type) (start-time 0)
&key (scale 2.2) (min-time 0.05) &allow-other-keys)
;; force add current position to the top of avs
(if (atom tms) (setq tms (list tms)))
(setq ctype (or ctype controller-type)) ;; use default if ctype is nil
(send-super :angle-vector-sequence avs tms ctype start-time :scale scale :min-time min-time))
;; if first tm of tms is zero, that means time_from_start of first trajectory point will be zero
(send-super :angle-vector-sequence avs tms ctype start-time :scale scale :min-time min-time :allow-initial-av t))
(:angle-vector
(av &optional tm (ctype controller-type) (start-time 0) &rest args
&key (move-arm :arms) (start-offset-time 0.01) (clear-velocities t) &allow-other-keys)
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