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[pr2eus] Fix doc about timeout of :wait-interpolation #445

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merged 2 commits into from
Jul 21, 2021
Merged

[pr2eus] Fix doc about timeout of :wait-interpolation #445

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daed318
[pr2eus] Fix doc about timeout of :wait-interpolation
pazeshun Oct 11, 2020
78b2779
Merge branch 'master' into wait-interpolation-timeout-doc
k-okada Jul 21, 2021
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4 changes: 2 additions & 2 deletions pr2eus/robot-interface.l
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Original file line number Diff line number Diff line change
Expand Up @@ -612,8 +612,8 @@
)))
(:wait-interpolation (&optional (ctype) (timeout 0)) ;; controller-type
"Wait until last sent motion is finished
- ctype : controller to be wait
- timeout : max time of for waiting
- ctype : controller to be waited
- timeout : max time to wait for each controller (so (send *ri* :wait-interpolation nil 0.1) with real PR2 takes up to 0.4 sec because four controllers are registered)
- return values is a list of interpolatingp for all controllers, so (null (some #'identity (send *ri* :wait-interpolation))) -> t if all interpolation has stopped"
(if (send self :simulation-modep)
(while (send self :interpolatingp)
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