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controller no redundant init #403

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controller no redundant init #403

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1 change: 0 additions & 1 deletion robot_mechanism_controllers/include/robot_mechanism_controllers/joint_position_controller.h
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Original file line number Diff line number Diff line change
Expand Up @@ -113,7 +113,6 @@ class JointPositionController : public pr2_controller_interface::Controller

private:
int loop_count_;
bool initialized_;
pr2_mechanism_model::RobotState *robot_; /**< Pointer to robot structure. */
control_toolbox::Pid pid_controller_; /**< Internal PID controller. */
ros::Time last_time_; /**< Last time stamp of update. */
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8 changes: 1 addition & 7 deletions robot_mechanism_controllers/src/joint_position_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,7 @@ namespace controller {

JointPositionController::JointPositionController()
: joint_state_(NULL), command_(0),
loop_count_(0), initialized_(false), robot_(NULL), last_time_(0)
loop_count_(0), robot_(NULL), last_time_(0)
{
}

Expand Down Expand Up @@ -141,12 +141,6 @@ void JointPositionController::update()
assert(joint_state_->joint_);
dt_= time - last_time_;

if (!initialized_)
{
initialized_ = true;
command_ = joint_state_->position_;
}

if(joint_state_->joint_->type == urdf::Joint::REVOLUTE)
{
angles::shortest_angular_distance_with_limits(
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