From 1f8f772408d48642f8c844217189d7b210bf3c30 Mon Sep 17 00:00:00 2001 From: mnaveau <maximilien.naveau@laas.fr> Date: Wed, 23 Mar 2016 10:53:13 +0100 Subject: [PATCH] put back the huge weight on the zmp : less constraint active and less computationnal expensive --- src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedSQP.cpp | 4 ++-- src/ZMPRefTrajectoryGeneration/nmpc_generator.cpp | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedSQP.cpp b/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedSQP.cpp index 33d89691..0c3e51f4 100644 --- a/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedSQP.cpp +++ b/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedSQP.cpp @@ -63,8 +63,8 @@ ZMPRefTrajectoryGeneration(SPM),OFTG_(NULL),dynamicFilter_(NULL),CurrentIndexUpp SQP_N_ = 16 ; SQP_nf_ = 2 ; m_SamplingPeriod = 0.005 ; - //outputPreviewDuration_ = m_SamplingPeriod ; - outputPreviewDuration_ = SQP_T_ ; + outputPreviewDuration_ = m_SamplingPeriod ; + //outputPreviewDuration_ = SQP_T_ ; // Generator Management InterpolationPeriod_ = m_SamplingPeriod*7; diff --git a/src/ZMPRefTrajectoryGeneration/nmpc_generator.cpp b/src/ZMPRefTrajectoryGeneration/nmpc_generator.cpp index 54552f92..83000647 100644 --- a/src/ZMPRefTrajectoryGeneration/nmpc_generator.cpp +++ b/src/ZMPRefTrajectoryGeneration/nmpc_generator.cpp @@ -212,8 +212,8 @@ void NMPCgenerator::initNMPCgenerator(support_state_t & currentSupport, T_ = T ; Tfirst_ = T ; T_step_ = T_step ; - alpha_ = 1 ;// 1 ; // weight for CoM velocity tracking : 0.5 * a ; 2.5 - beta_ = 1 ;// 1 ; // weight for ZMP reference tracking : 0.5 * b ; 1e+03 + alpha_ = 5 ;// 1 ; // weight for CoM velocity tracking : 0.5 * a ; 2.5 + beta_ = 1e+03 ;// 1 ; // weight for ZMP reference tracking : 0.5 * b ; 1e+03 gamma_ = 1e-05 ;// 1e-05 ; // weight for jerk minimization : 0.5 * c ; 1e-04 SecurityMarginX_ = 0.09 ; SecurityMarginY_ = 0.05 ; -- GitLab