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Commit 225ac8fc authored by elokdae's avatar elokdae
Browse files

Some experiments

parent da94fdc1
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This diff is collapsed.
This diff is collapsed.
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This diff is collapsed.
This diff is collapsed.
This diff is collapsed.
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......@@ -1461,6 +1461,14 @@ void get_lin_cost_vectors()
s_Deepc_mutex.lock();
// ROS_INFO("[DEEPC CONTROLLER] DEBUG Mutex Lock 1225");
d_setpoint = s_setpoint;
// START TEMPORARY CODE TO HARD-CODE SETPOINT
//d_setpoint(0) = 1.0; // x
//d_setpoint(1) = 1.0; // y
//d_setpoint(2) = 2.0; // z
//d_setpoint(3) = 0.0; // yaw
// END TEMPORARY CODE TO HARD-CODE SETPOINT
s_Deepc_mutex.unlock();
// ROS_INFO("[DEEPC CONTROLLER] DEBUG Mutex Unlock 1225");
......@@ -1544,6 +1552,14 @@ void update_lin_cost_vectors()
s_Deepc_mutex.lock();
// ROS_INFO("[DEEPC CONTROLLER] DEBUG Mutex Lock 1312");
d_setpoint = s_setpoint;
// START TEMPORARY CODE TO HARD-CODE SETPOINT
//d_setpoint(0) = 1.0; // x
//d_setpoint(1) = 1.0; // y
//d_setpoint(2) = 2.0; // z
//d_setpoint(3) = 0.0; // yaw
// END TEMPORARY CODE TO HARD-CODE SETPOINT
s_Deepc_mutex.unlock();
// ROS_INFO("[DEEPC CONTROLLER] DEBUG Mutex Unlock 1312");
......
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