[DQ_KinematicController.cpp] Added the initialization of the damping …

…attribute in the constructor. In addition, I fixed the initialization order of the attributes last control and last error signal.
dqrobotics · Aug 2, 2024 · cefc6d7 · cefc6d7
1 parent 141cde5
commit cefc6d7
Showing 1 changed file with 7 additions and 6 deletions.
diff --git a/src/robot_control/DQ_KinematicController.cpp b/src/robot_control/DQ_KinematicController.cpp
@@ -54,15 +54,16 @@ DQ_KinematicController::DQ_KinematicController(const std::shared_ptr<DQ_Kinemati
 DQ_KinematicController::DQ_KinematicController():
     robot_(nullptr),
     control_objective_(ControlObjective::None),
+    attached_primitive_(0.0),
+    target_primitive_(0.0),
     gain_(0.0),
-    system_reached_stable_region_(false),
-    last_error_signal_(VectorXd::Zero(1)),//Todo: change this inialization to use empty vector
-    last_control_signal_(VectorXd::Zero(1)),//Todo: change this inialization to use empty vector
+    damping_(0),//Todo: change this inialization to use empty vector
+    system_reached_stable_region_(false),//Todo: change this inialization to use empty vector
+    last_control_signal_(VectorXd::Zero(1)),
+    last_error_signal_(VectorXd::Zero(1)),
     stability_threshold_(0.0),
     stability_counter_(0.0),
-    stability_counter_max_(10.0),
-    attached_primitive_(0.0),
-    target_primitive_(0.0)
+    stability_counter_max_(10.0)
 {
 
 }