Hello, I would want get instantaneous velocities during a movement on trajectory.
My extracted code:
probot->GetController()->SetPath(traj); //move the manipulator
while(!probot->GetController()->IsDone()) {
Transform t = pmanip->GetEndEffectorTransform(); //now i have a end-effector transform
probot->GetDOFValues(vDOFValue); //now i have dof position
probot->GetDOFVelocities(vDOFVel) //not works...
....
boost::this_thread::sleep(boost::posix_time::milliseconds(REFRESH_MS));
}
Now, how can I extract instantaneous velocities of DOF?
Thanks
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