From f684af15bef3bd583c12a9547f61aa83a1af0ec8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bartek=20=C5=81ukawski?= <bwmn.peter@gmail.com>
Date: Mon, 11 Mar 2019 13:13:46 +0100
Subject: [PATCH] Avoid calling IPositionDirect::getRefPositions

https://github.com/roboticslab-uc3m/kinematics-dynamics/issues/173#issuecomment-471514383
---
 .../BasicCartesianControl/ICartesianControlImpl.cpp    | 10 +---------
 1 file changed, 1 insertion(+), 9 deletions(-)

diff --git a/libraries/YarpPlugins/BasicCartesianControl/ICartesianControlImpl.cpp b/libraries/YarpPlugins/BasicCartesianControl/ICartesianControlImpl.cpp
index 15709bf00..4db721f52 100644
--- a/libraries/YarpPlugins/BasicCartesianControl/ICartesianControlImpl.cpp
+++ b/libraries/YarpPlugins/BasicCartesianControl/ICartesianControlImpl.cpp
@@ -588,19 +588,11 @@ void roboticslab::BasicCartesianControl::movi(const std::vector<double> &x)
         return;
     }
 
-    std::vector<double> qRef(numRobotJoints);
-
-    if (!iPositionDirect->getRefPositions(qRef.data()))
-    {
-        CD_ERROR("getRefPositions failed.\n");
-        return;
-    }
-
     std::vector<double> qd(numRobotJoints);
 
     for (int i = 0; i < numRobotJoints; i++)
     {
-        qd[i] = q[i] - qRef[i];
+        qd[i] = q[i] - currentQ[i];
     }
 
     if (!checkJointLimits(currentQ, qd))