removed aligned velocity port

auv-avalon · Aug 15, 2014 · 327c346 · 327c346
1 parent 5a6fddd
commit 327c346
Show file tree

Hide file tree

Showing 2 changed files with 3 additions and 14 deletions.
diff --git a/tasks/SingleSonarServoing.cpp b/tasks/SingleSonarServoing.cpp
@@ -213,18 +213,15 @@ void SingleSonarServoing::updateHook()
 
             //create commnd for aligned 
             base::LinearAngular6DCommand alignedPositionCommand;
-            base::LinearAngular6DCommand alignedVelocityCommand;
 	    base::LinearAngular6DCommand worldCommand;
-            alignedVelocityCommand.linear(0) = 0.0;
+            alignedPositionCommand.linear(0) = 0.0;
             alignedPositionCommand.linear(1) = 0.0;
             worldCommand.linear(2) = _fixed_depth.get();
             worldCommand.angular(0) = 0.0; 
             worldCommand.angular(1) = 0.0;
             worldCommand.angular(2) = (alignment_heading).getRad();
 
             // write aligned position command
-            if (_aligned_velocity_command.connected())
-                _aligned_velocity_command.write(alignedVelocityCommand);
 
             if (_aligned_position_command.connected())
                 _aligned_position_command.write(alignedPositionCommand);
@@ -489,9 +486,8 @@ void SingleSonarServoing::updateHook()
 
     //create commnd for aligned 
     base::LinearAngular6DCommand alignedPositionCommand;
-    base::LinearAngular6DCommand alignedVelocityCommand;
     base::LinearAngular6DCommand worldCommand;
-    alignedVelocityCommand.linear(0) = std::abs(relative_target_position.x()) < 0.001 ? 0.0 : relative_target_position.x();
+    alignedPositionCommand.linear(0) = std::abs(relative_target_position.x()) < 0.001 ? 0.0 : relative_target_position.x();
     alignedPositionCommand.linear(1) = std::abs(relative_target_position.y()) < 0.001 ? 0.0 : relative_target_position.y();
     worldCommand.linear(2) = _fixed_depth.get();
     worldCommand.angular(0) = 0.0;
@@ -537,11 +533,6 @@ void SingleSonarServoing::updateHook()
         _position_command.write(positionCommand);
 
     // write aligned position command
-    if (_aligned_velocity_command.connected()){
-        alignedVelocityCommand.time = base::Time::now();
-        _aligned_velocity_command.write(alignedVelocityCommand);
-    }
-
     if (_aligned_position_command.connected()){
         alignedPositionCommand.time = base::Time::now();
         _aligned_position_command.write(alignedPositionCommand);

diff --git a/wall_servoing.orogen b/wall_servoing.orogen
@@ -138,10 +138,8 @@ task_context "SingleSonarServoing" do
 
     output_port('position_command', '/base/AUVPositionCommand').
         doc("relativ target position and heading")
-    output_port('aligned_velocity_command', 'base::LinearAngular6DCommand').
-	doc("relativ x-speed for new control draft")
     output_port('aligned_position_command', 'base::LinearAngular6DCommand').
-	doc("relativ target y-position for new control draft")
+	doc("relativ target x- and y- position for new control draft")
     output_port('world_command', 'base::LinearAngular6DCommand').
 	doc("absolute depth, roll, pitch, and yaw for new control draft")