| 356 |
|
cantPos.push_back(COM[whichDirection]); |
| 357 |
|
} |
| 358 |
|
|
| 359 |
+ |
if(usingSMD) |
| 360 |
+ |
prevCantPos = cantPos; |
| 361 |
|
#endif |
| 362 |
|
|
| 363 |
|
|
| 472 |
|
if(usingSMD) |
| 473 |
|
cantPos.push_back(COM[whichDirection]); |
| 474 |
|
} |
| 475 |
+ |
|
| 476 |
+ |
if(usingSMD) |
| 477 |
+ |
prevCantPos = cantPos; |
| 478 |
+ |
|
| 479 |
|
// |
| 480 |
|
forcePolicy->update(); |
| 481 |
|
} |
| 980 |
|
if (diff <= zconsTol && states[i] == zcsMoving){ |
| 981 |
|
states[i] = zcsFixed; |
| 982 |
|
changed_local = 1; |
| 983 |
+ |
|
| 984 |
+ |
if(usingSMD) |
| 985 |
+ |
prevCantPos = cantPos; |
| 986 |
|
|
| 987 |
|
if (hasZConsGap) |
| 988 |
|
endFixTime[i] = info->getTime() + zconsFixTime; |
| 991 |
|
states[i] = zcsMoving; |
| 992 |
|
changed_local = 1; |
| 993 |
|
|
| 994 |
+ |
if(usingSMD) |
| 995 |
+ |
cantPos = prevCantPos; |
| 996 |
+ |
|
| 997 |
|
if (hasZConsGap) |
| 998 |
|
endFixTime[i] = INFINITE_TIME; |
| 999 |
|
} |