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(-)a/examples/chainiksolverpos_lma_demo.cpp (-2 / +2 lines)
Lines 90-98 void test_inverseposkin(KDL::Chain& chain) { Link Here
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    KDL::JntArray q_sol(n);
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    KDL::JntArray q_sol(n);
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    for (int trial=0;trial<num_of_trials;++trial) {
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    for (int trial=0;trial<num_of_trials;++trial) {
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        q.data.setRandom();
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        q.data.setRandom();
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        q.data *= PI;
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        q.data *= KDL::PI;
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        q_init.data.setRandom();
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        q_init.data.setRandom();
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        q_init.data *= PI;
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        q_init.data *= KDL::PI;
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        KDL::Frame pos_goal,pos_reached;
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        KDL::Frame pos_goal,pos_reached;
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        fwdkin.JntToCart(q,pos_goal);
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        fwdkin.JntToCart(q,pos_goal);
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        //solver.compute_fwdpos(q.data);
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        //solver.compute_fwdpos(q.data);
(-)a/models/kukaLWRtestDHnew.cpp (-2 / +1 lines)
Lines 109-115 int getInputs(JntArray &_q, JntArray &_qdot, JntArray &_qdotdot, int &linenr) Link Here
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   *READING Qdot = joint velocities
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   *READING Qdot = joint velocities
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   */
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   */
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  counter=0;//reset counter
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  counter=0;//reset counter
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  ifstream inQdotfile("interpreteerbaar/qdot", std::ios::in);
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  std::ifstream inQdotfile("interpreteerbaar/qdot", std::ios::in);
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  if (!inQdotfile)

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  if (!inQdotfile)

        

        

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  {

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  {

        

            

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