Merge pull request #129 from robotology/fix/unicycle_input

Fix WalkingModule::setPlannerInput() when a new input is set from the joypad
robotology · Sep 28, 2022 · 1713405 · 1713405
2 parents d3b810d + 4a30f15
commit 1713405
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/src/WalkingModule/src/Module.cpp b/src/WalkingModule/src/Module.cpp
@@ -444,7 +444,7 @@ bool WalkingModule::configure(yarp::os::ResourceFinder& rf)
     m_qDesired.resize(m_robotControlHelper->getActuatedDoFs());
     m_dqDesired.resize(m_robotControlHelper->getActuatedDoFs());
 
-    yInfo() << "[WalkingModule::configure] Ready to play!";
+    yInfo() << "[WalkingModule::configure] Ready to play! Please prepare the robot.";
 
     return true;
 }
@@ -1633,6 +1633,8 @@ bool WalkingModule::startWalking()
 
 bool WalkingModule::setPlannerInput(const yarp::sig::Vector &plannerInput)
 {
+    m_plannerInput = plannerInput;
+
     // in the approaching phase the robot should not move
     // as soon as the approaching phase is finished the user
     // can move the robot
@@ -1677,8 +1679,6 @@ bool WalkingModule::setPlannerInput(const yarp::sig::Vector &plannerInput)
         }
     }
 
-    m_plannerInput = plannerInput;
-
     m_newTrajectoryRequired = true;
 
     return true;