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Fixed base problem
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krishauser committed Feb 8, 2016
1 parent 90ecd4f commit 70995be
Showing 1 changed file with 6 additions and 4 deletions.
10 changes: 6 additions & 4 deletions common/Motion/motion_kinematic.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -90,10 +90,12 @@ class MyControllerUpdateData : public ControllerUpdateData
robotState.rightLimb.senseUpdateTime = t;

//base moving flag
if(robotState.base.velocity.norm() > 1e-3 || robotState.base.sendCommand)
robotState.base.moving = true;
else
robotState.base.moving = false;
if(robotState.base.enabled) {
if(robotState.base.velocity.norm() > 1e-3 || robotState.base.sendCommand)
robotState.base.moving = true;
else
robotState.base.moving = false;
}

lastSensorTime = t;
return true;
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