duplicate move

roboticslab-uc3m · Mar 3, 2017 · 063b6bf · 063b6bf
1 parent 41b374a
commit 063b6bf
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diff --git a/programs/cgdaExecutionOET/cgdaExecutionOETOpenrave/CgdaExecutionOET.cpp b/programs/cgdaExecutionOET/cgdaExecutionOETOpenrave/CgdaExecutionOET.cpp
@@ -152,6 +152,7 @@ int CgdaExecutionOET::init(int argc, char **argv)
 
     mentalDevice.view(functionMinEvalOp->mentalPositionControl);
     realDevice.view(functionMinEvalOp->realPositionControl);
+    realSimDevice.view(functionMinEvalOp->realSimPositionControl);
     functionMinEvalOp->setPRpcClient(&rpcClient);
     //           functionMinEvalOp->setPRobot(probot);
     //           functionMinEvalOp->setPenv(penv);

diff --git a/programs/cgdaExecutionOET/cgdaExecutionOETOpenrave/CgdaPaintFitnessFunction.cpp b/programs/cgdaExecutionOET/cgdaExecutionOETOpenrave/CgdaPaintFitnessFunction.cpp
@@ -277,6 +277,7 @@ void CgdaPaintFitnessFunction::individualExecution(vector<double> results){
     pRpcClient->write(cmd3,res3);
 
     realPositionControl->positionMove(dEncRaw.data());
+    realSimPositionControl->positionMove(dEncRaw.data());
 
     //sleep(1);
 

diff --git a/programs/cgdaExecutionOET/cgdaExecutionOETOpenrave/CgdaPaintFitnessFunction.hpp b/programs/cgdaExecutionOET/cgdaExecutionOETOpenrave/CgdaPaintFitnessFunction.hpp
@@ -72,6 +72,7 @@ class CgdaPaintFitnessFunction : public EvaluateOp {
 
     yarp::dev::IPositionControl *mentalPositionControl;
     yarp::dev::IPositionControl *realPositionControl;
+    yarp::dev::IPositionControl *realSimPositionControl;
     yarp::os::RpcClient* pRpcClient;
 
 };