Adapted to JTC interpolation method feature (UniversalRobots#439)

RoboticManipulation · Jul 18, 2022 · d4f0fe9 · d4f0fe9
1 parent fe88fb0
commit d4f0fe9
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/ur_controllers/src/scaled_joint_trajectory_controller.cpp b/ur_controllers/src/scaled_joint_trajectory_controller.cpp
@@ -165,7 +165,10 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const
     // find segment for current timestamp
     joint_trajectory_controller::TrajectoryPointConstIter start_segment_itr, end_segment_itr;
     const bool valid_point =
-        (*traj_point_active_ptr_)->sample(traj_time, state_desired, start_segment_itr, end_segment_itr);
+        (*traj_point_active_ptr_)
+            ->sample(traj_time,
+                     joint_trajectory_controller::interpolation_methods::InterpolationMethod::VARIABLE_DEGREE_SPLINE,
+                     state_desired, start_segment_itr, end_segment_itr);
 
     if (valid_point) {
       bool abort = false;