From 55ce559ccfb6a55b77c390637563c2d6bb45f71f Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Thu, 22 Jun 2017 16:55:26 +0900 Subject: [PATCH] :angle-vector change :start-time as keyward arguments --- pr2eus/robot-interface.l | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/pr2eus/robot-interface.l b/pr2eus/robot-interface.l index d0bbeb32c..847b9f8da 100644 --- a/pr2eus/robot-interface.l +++ b/pr2eus/robot-interface.l @@ -345,7 +345,7 @@ (let* ((prev-av (send robot :angle-vector))) (send-all (gethash ctype controller-table) :push-angle-vector-simulation av tm prev-av))) (:angle-vector - (av &optional (tm nil) (ctype controller-type) (start-time 0) &key (scale 1) (min-time 1.0) (end-coords-interpolation nil)) + (av &optional (tm nil) (ctype controller-type) &key (start-time 0) (scale 1) (min-time 1.0) (end-coords-interpolation nil)) "Send joind angle to robot, this method retuns immediately, so use :wait-interpolation to block until the motion stops. - av : joint angle vector [rad] - tm : (time to goal in [msec]) @@ -359,7 +359,7 @@ - end-coords-interpolation : set t if you want to move robot in cartesian space interpolation " (if end-coords-interpolation - (return-from :angle-vector (send self :angle-vector-sequence (list av) (list tm) ctype start-time :scale scale :min-time min-time :end-coords-interpolation t))) + (return-from :angle-vector (send self :angle-vector-sequence (list av) (list tm) ctype :start-time start-time :scale scale :min-time min-time :end-coords-interpolation t))) (setq ctype (or ctype controller-type)) ;; use default controller-type if ctype is nil (unless (gethash ctype controller-table) (warn ";; controller-type: ~A not found" ctype) @@ -400,7 +400,7 @@ cacts (send self ctype))) av) (:angle-vector-sequence - (avs &optional (tms (list 3000)) (ctype controller-type) (start-time 0.1) &key (scale 1) (min-time 0.0) (end-coords-interpolation nil)) + (avs &optional (tms (list 3000)) (ctype controller-type) &key (start-time 0.1) (scale 1) (min-time 0.0) (end-coords-interpolation nil)) "Send joind angle to robot, this method retuns immediately, so use :wait-interpolation to block until the motion stops." (setq ctype (or ctype controller-type)) ;; use default controller-type if ctype is nil (unless (gethash ctype controller-table)