Closed nic-barbara closed 6 months ago
When we fixed the bug with task accelerations being positive instead of negative, we found that joint_track_task.cc and joint_limit_task.cc repeat code from the Update function in task.cc. They should just have a callback instead.
joint_track_task.cc
joint_limit_task.cc
Update
task.cc
The new OSC structure in 5b90119a7c6fc99693b3371f4994a8659659f221 removes the need for callbacks.
When we fixed the bug with task accelerations being positive instead of negative, we found that
joint_track_task.cc
andjoint_limit_task.cc
repeat code from theUpdate
function intask.cc
. They should just have a callback instead.