Unverified Commit 85d46de9 authored by stonneau's avatar stonneau Committed by GitHub
Browse files

Merge pull request #36 from pFernbach/topic/kinodynamic_orientation

topic/kindoynamic_orientation
parents bb5794ad c93ac8ff
...@@ -39,7 +39,7 @@ ps.setParameter("Kinodynamic/accelerationBound",aMax) ...@@ -39,7 +39,7 @@ ps.setParameter("Kinodynamic/accelerationBound",aMax)
ps.setParameter("DynamicPlanner/sizeFootX",0.01) ps.setParameter("DynamicPlanner/sizeFootX",0.01)
ps.setParameter("DynamicPlanner/sizeFootY",0.01) ps.setParameter("DynamicPlanner/sizeFootY",0.01)
ps.setParameter("DynamicPlanner/friction",0.5) ps.setParameter("DynamicPlanner/friction",0.5)
ps.setParameter("Kinodynamic/forceOrientation",True) ps.setParameter("Kinodynamic/forceYawOrientation",True)
# sample only configuration with null velocity and acceleration : # sample only configuration with null velocity and acceleration :
ps.setParameter("ConfigurationShooter/sampleExtraDOF",False) ps.setParameter("ConfigurationShooter/sampleExtraDOF",False)
ps.setParameter("PathOptimization/RandomShortcut/NumberOfLoops",50) ps.setParameter("PathOptimization/RandomShortcut/NumberOfLoops",50)
......
...@@ -37,7 +37,7 @@ ps = ProblemSolver( rbprmBuilder ) ...@@ -37,7 +37,7 @@ ps = ProblemSolver( rbprmBuilder )
ps.setParameter("Kinodynamic/velocityBound",vMax) ps.setParameter("Kinodynamic/velocityBound",vMax)
ps.setParameter("Kinodynamic/accelerationBound",aMax) ps.setParameter("Kinodynamic/accelerationBound",aMax)
# force the orientation of the trunk to match the direction of the motion # force the orientation of the trunk to match the direction of the motion
ps.setParameter("Kinodynamic/forceOrientation",True) ps.setParameter("Kinodynamic/forceYawOrientation",True)
ps.setParameter("DynamicPlanner/sizeFootX",0.2) ps.setParameter("DynamicPlanner/sizeFootX",0.2)
ps.setParameter("DynamicPlanner/sizeFootY",0.12) ps.setParameter("DynamicPlanner/sizeFootY",0.12)
ps.setParameter("DynamicPlanner/friction",mu) ps.setParameter("DynamicPlanner/friction",mu)
......
...@@ -38,7 +38,7 @@ ps = ProblemSolver( rbprmBuilder ) ...@@ -38,7 +38,7 @@ ps = ProblemSolver( rbprmBuilder )
ps.setParameter("Kinodynamic/velocityBound",vMax) ps.setParameter("Kinodynamic/velocityBound",vMax)
ps.setParameter("Kinodynamic/accelerationBound",aMax) ps.setParameter("Kinodynamic/accelerationBound",aMax)
# force the orientation of the trunk to match the direction of the motion # force the orientation of the trunk to match the direction of the motion
ps.setParameter("Kinodynamic/forceOrientation",True) ps.setParameter("Kinodynamic/forceYawOrientation",True)
ps.setParameter("DynamicPlanner/sizeFootX",0.2) ps.setParameter("DynamicPlanner/sizeFootX",0.2)
ps.setParameter("DynamicPlanner/sizeFootY",0.12) ps.setParameter("DynamicPlanner/sizeFootY",0.12)
ps.setParameter("DynamicPlanner/friction",mu) ps.setParameter("DynamicPlanner/friction",mu)
......
...@@ -38,7 +38,7 @@ ps = ProblemSolver( rbprmBuilder ) ...@@ -38,7 +38,7 @@ ps = ProblemSolver( rbprmBuilder )
ps.setParameter("Kinodynamic/velocityBound",vMax) ps.setParameter("Kinodynamic/velocityBound",vMax)
ps.setParameter("Kinodynamic/accelerationBound",aMax) ps.setParameter("Kinodynamic/accelerationBound",aMax)
# force the orientation of the trunk to match the direction of the motion # force the orientation of the trunk to match the direction of the motion
ps.setParameter("Kinodynamic/forceOrientation",False) ps.setParameter("Kinodynamic/forceYawOrientation",False)
ps.setParameter("DynamicPlanner/sizeFootX",0.2) ps.setParameter("DynamicPlanner/sizeFootX",0.2)
ps.setParameter("DynamicPlanner/sizeFootY",0.12) ps.setParameter("DynamicPlanner/sizeFootY",0.12)
ps.setParameter("DynamicPlanner/friction",mu) ps.setParameter("DynamicPlanner/friction",mu)
......
...@@ -40,7 +40,7 @@ ps.setParameter("Kinodynamic/accelerationBound",aMax) ...@@ -40,7 +40,7 @@ ps.setParameter("Kinodynamic/accelerationBound",aMax)
ps.setParameter("DynamicPlanner/sizeFootX",0.2) ps.setParameter("DynamicPlanner/sizeFootX",0.2)
ps.setParameter("DynamicPlanner/sizeFootY",0.12) ps.setParameter("DynamicPlanner/sizeFootY",0.12)
ps.setParameter("DynamicPlanner/friction",0.5) ps.setParameter("DynamicPlanner/friction",0.5)
ps.setParameter("Kinodynamic/forceOrientation",True) ps.setParameter("Kinodynamic/forceYawOrientation",True)
# sample only configuration with null velocity and acceleration : # sample only configuration with null velocity and acceleration :
ps.setParameter("ConfigurationShooter/sampleExtraDOF",False) ps.setParameter("ConfigurationShooter/sampleExtraDOF",False)
......
...@@ -38,7 +38,7 @@ ps = ProblemSolver( rbprmBuilder ) ...@@ -38,7 +38,7 @@ ps = ProblemSolver( rbprmBuilder )
ps.setParameter("Kinodynamic/velocityBound",vMax) ps.setParameter("Kinodynamic/velocityBound",vMax)
ps.setParameter("Kinodynamic/accelerationBound",aMax) ps.setParameter("Kinodynamic/accelerationBound",aMax)
# force the orientation of the trunk to match the direction of the motion # force the orientation of the trunk to match the direction of the motion
ps.setParameter("Kinodynamic/forceOrientation",True) ps.setParameter("Kinodynamic/forceYawOrientation",True)
ps.setParameter("DynamicPlanner/sizeFootX",0.2) ps.setParameter("DynamicPlanner/sizeFootX",0.2)
ps.setParameter("DynamicPlanner/sizeFootY",0.12) ps.setParameter("DynamicPlanner/sizeFootY",0.12)
ps.setParameter("DynamicPlanner/friction",mu) ps.setParameter("DynamicPlanner/friction",mu)
......
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