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------------------------------------------------------------
revno: 3928
committer: Anton Gladky <gladky.anton@xxxxxxxxx>
timestamp: Wed 2014-04-23 15:38:24 +0200
message:
  Export current value from PIDController.
modified:
  pkg/common/KinematicEngines.cpp
  pkg/common/KinematicEngines.hpp


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=== modified file 'pkg/common/KinematicEngines.cpp'
--- pkg/common/KinematicEngines.cpp	2013-11-11 16:22:15 +0000
+++ pkg/common/KinematicEngines.cpp	2014-04-23 13:38:24 +0000
@@ -174,6 +174,7 @@
     }
     
     iterPrevStart = scene->iter;
+    current = tmpForce;
   }
   
   translationAxis = axis;

=== modified file 'pkg/common/KinematicEngines.hpp'
--- pkg/common/KinematicEngines.hpp	2013-11-11 16:22:15 +0000
+++ pkg/common/KinematicEngines.hpp	2014-04-23 13:38:24 +0000
@@ -99,6 +99,7 @@
     ((Real,maxVelocity,0.0,,"Velocity [m/s]"))
     ((Vector3r,axis,Vector3r::Zero(),,"Unit vector along which apply the velocity [-]"))
     ((Real,target,0.0,,"Target value for the controller [N]"))
+    ((Vector3r,current,Vector3r::Zero(),,"Current value for the controller [N]"))
     ((Real,kP,0.0,,"Proportional gain/coefficient for the PID-controller [-]"))
     ((Real,kI,0.0,,"Integral gain/coefficient for the PID-controller [-]"))
     ((Real,kD,0.0,,"Derivative gain/coefficient for the PID-controller [-]"))