add end-coords-interpolation-pass-time, time interval for interpolati…

…ng end-coords, see #325

pr2eus/robot-interface.l

@@ -404,7 +404,7 @@
       cacts (send self ctype)))
    av)
   (:angle-vector-sequence
-   (avs &optional (tms (list 3000)) (ctype controller-type) (start-time 0.1) &key (scale 1) (min-time 0.0) (end-coords-interpolation nil))
+   (avs &optional (tms (list 3000)) (ctype controller-type) (start-time 0.1) &key (scale 1) (min-time 0.0) (end-coords-interpolation nil) (end-coords-interpolation-pass-time 100))
    "Send sequence of joind angle to robot, this method retuns immediately, so use :wait-interpolation to block until the motion stops.
 - avs: sequence of joint angles(float-vector) [deg],  (list av0 av1 ... avn)
 - tms: sequence of duration(float) from previous angle-vector to next goal [msec],  (list tm0 tm1 ... tmn)
@@ -417,6 +417,7 @@
 - scale : if tms is not specified, it will use 1/scale of the fastest speed
 - min-time : minimum time for time to goal
 - end-coords-interpolation : set t if you want to move robot in cartesian space interpolation
+- end-coords-interpolation-pass-time : time interval for interpolating end-coords
    "
    (setq ctype (or ctype controller-type))  ;; use default controller-type if ctype is nil
    (unless (gethash ctype controller-table)
@@ -470,7 +471,7 @@
                  (progn
                    (send minjerk :start-interpolation)
                    (while (send minjerk :interpolatingp)
-                     (send minjerk :pass-time 100)
+                     (send minjerk :pass-time end-coords-interpolation-pass-time)
                      (setq p (elt (send minjerk :position) 0))
                      ;; set midpoint of av as initial pose of IK
                      (cond ((null ik-method))