From 1d927e1c7c4e9f850c125182cbb7f9f5a6c8acbd Mon Sep 17 00:00:00 2001
From: philipp schoenberger <philipp.schoenberger@ndsatcom.com>
Date: Wed, 19 Aug 2015 11:34:16 +0200
Subject: [PATCH] fix max velocity for trajectory

---
 lwrserv/SvrHandling.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/lwrserv/SvrHandling.cpp b/lwrserv/SvrHandling.cpp
index 028a5df..9e3eb6b 100755
--- a/lwrserv/SvrHandling.cpp
+++ b/lwrserv/SvrHandling.cpp
@@ -625,8 +625,8 @@ void movePTPJoints(SocketObject& client, string& arg)
     class Trajectory<JOINT_NUMBER>* newTrajectory;
     
     float sampleTimeMs = SvrData::getInstance()->getSampleTimeMs();
-    VecJoint maxJointVelocity     =  SvrData::getInstance()->getMaxVelocity();
-    VecJoint maxJointAcceleration =  SvrData::getInstance()->getMaxAcceleration();
+    VecJoint maxJointVelocity     =  SvrData::getInstance()->getRobotVelocity();
+    VecJoint maxJointAcceleration =  SvrData::getInstance()->getRobotAcceleration();
 
     newTrajectory = (class Trajectory<JOINT_NUMBER>*) new LinearJointTrajectory<JOINT_NUMBER>(sampleTimeMs, maxJointVelocity, maxJointAcceleration, prevJointPos, newJointPos); 
 
@@ -711,6 +711,7 @@ void moveHomRowWiseStatus(SocketObject& client, string& arg)
     float sampleTimeMs = SvrData::getInstance()->getSampleTimeMs();
     VecJoint maxJointVelocity     =  SvrData::getInstance()->getRobotVelocity();
     VecJoint maxJointAcceleration =  SvrData::getInstance()->getRobotAcceleration();
+    std::cout << "max velo is " << maxJointVelocity ;
 
     class Trajectory<JOINT_NUMBER>* newTrajectory = new LinearJointTrajectory<JOINT_NUMBER>(sampleTimeMs, maxJointVelocity, maxJointAcceleration, prevJointPos, newJointPos);