absolutely essential to have all velocities set to 0 at the start. re…

…sults can be somewhat catastropic if uninitialized and used with acceleration limits.
piyushk · Dec 9, 2012 · b55632b · b55632b
1 parent 674510b
commit b55632b
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/segway_rmpX/src/segway_rmp_node.cpp b/segway_rmpX/src/segway_rmp_node.cpp
@@ -61,6 +61,10 @@ class SegwayRMPNode {
         this->odometry_x = 0.0;
         this->odometry_y = 0.0;
         this->odometry_w = 0.0;
+        this->linear_vel = 0.0;
+        this->angular_vel = 0.0;
+        this->target_linear_vel = 0.0;
+        this->target_angular_vel = 0.0;
         this->count = 0;
     }