From 6a67804630a025a0ebe9e5a6e2f99e76030f50e7 Mon Sep 17 00:00:00 2001 From: Shunichi Nozawa Date: Tue, 18 Apr 2017 19:25:49 +0900 Subject: [PATCH] [irteus/irtrobot.l] Call a method to define min/max table in :init-ending. By default, do nothing and do not change behavior for non-join-min-max robots. --- irteus/irtrobot.l | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/irteus/irtrobot.l b/irteus/irtrobot.l index 2e3cf5226..122ac5d01 100644 --- a/irteus/irtrobot.l +++ b/irteus/irtrobot.l @@ -95,6 +95,7 @@ (list larm-end-coords rarm-end-coords lleg-end-coords rleg-end-coords head-end-coords torso-end-coords)))) + (send self :define-min-max-table) ) ) ;; End-coords accessor @@ -1031,6 +1032,12 @@ (setf (elt sbp idx) (/ nume denom)) )) sbp)) + (:define-min-max-table + () + "Define min max table. + This method is called in :init-ending in this class and do nothing by default. + If you want to define min/max table for your robots, please define :define-min-max-table method in your robots' classes." + ) ) (in-package "GEOMETRY")