Enforce NRJL algorithm in KdlSolver

roboticslab-uc3m · Jul 12, 2024 · 8394a91 · 8394a91
1 parent 07193b1
commit 8394a91
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/libraries/YarpPlugins/AmorCartesianControl/DeviceDriverImpl.cpp b/libraries/YarpPlugins/AmorCartesianControl/DeviceDriverImpl.cpp
@@ -112,6 +112,7 @@ bool AmorCartesianControl::open(yarp::os::Searchable& config)
     cartesianDeviceOptions.put("device", solverStr);
     cartesianDeviceOptions.put("mins", yarp::os::Value::makeList(qMin.toString().c_str()));
     cartesianDeviceOptions.put("maxs", yarp::os::Value::makeList(qMax.toString().c_str()));
+    cartesianDeviceOptions.put("ikPos", yarp::os::Value("nrjl"));
     cartesianDeviceOptions.setMonitor(config.getMonitor(), solverStr.c_str());
 
     if (!cartesianDevice.open(cartesianDeviceOptions))