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Add option to use open-loop control with Rotation Shim #4880

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Jan 31, 2025
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Reset last_angular_vel_ in activate method
Signed-off-by: RBT22 <rozgonyibalint@gmail.com>
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RBT22 committed Jan 30, 2025
commit d6a4fbcf43494b548342ef32191482f51a848180
Original file line number Diff line number Diff line change
Expand Up @@ -122,6 +122,7 @@ void RotationShimController::activate()

primary_controller_->activate();
in_rotation_ = false;
last_angular_vel_ = std::numeric_limits<double>::max();

auto node = node_.lock();
dyn_params_handler_ = node->add_on_set_parameters_callback(
Expand All @@ -144,8 +145,6 @@ void RotationShimController::deactivate()
node->remove_on_set_parameters_callback(dyn_params_handler_.get());
}
dyn_params_handler_.reset();

last_angular_vel_ = std::numeric_limits<double>::max();
}

void RotationShimController::cleanup()
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