void SpecificWorker::setSyncPosition(const MotorGoalPositionList& listGoals){ bool correct = true; int ids[ listGoals.size()]; int positions[ listGoals.size()]; float position = 0; for(uint i=0;i< listGoals.size();i++) { QString name = QString::fromStdString( listGoals[i].name); if ( !motorsName.contains(name)) { correct = false; break; } else { Servo *servo = motorsName[name]; ids[i] = name2id[name]; position = truncatePosition(name, listGoals[i].position); positions[i] = servo->rads2Steps(position); } } if(correct) { for(uint i=0;i< listGoals.size();i++) setPosition( listGoals[i]); } else { uFailed.what = std::string("Exception: muecasJointComp::setSyncPosition:: Unknown motor name"); throw uFailed; } qDebug()<<"done:setting sync position of motors"; }