changed the pitch of the foot to climb slope

src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp

@@ -74,7 +74,7 @@ DynamicFilter::~DynamicFilter()
   }
 }
 
-void DynamicFilter::ForwardKinematics(MAL_VECTOR_TYPE(double) & configuration,
+void DynamicFilter::InverseDynamics(MAL_VECTOR_TYPE(double) & configuration,
                                       MAL_VECTOR_TYPE(double) & velocity,
                                       MAL_VECTOR_TYPE(double) & acceleration)
 {

src/ZMPRefTrajectoryGeneration/DynamicFilter.hh

@@ -103,7 +103,7 @@ namespace PatternGeneratorJRL
         deque<ZMPPosition> & inputdeltaZMP_deq,
         deque<COMState> & outputDeltaCOMTraj_deq_);
 
-    void ForwardKinematics(MAL_VECTOR_TYPE(double) & configuration,
+    void InverseDynamics(MAL_VECTOR_TYPE(double) & configuration,
                            MAL_VECTOR_TYPE(double) & velocity,
                            MAL_VECTOR_TYPE(double) & acceleration);
 

tests/TestMorisawa2007.cpp

@@ -180,7 +180,7 @@ public:
               m_CurrentVelocity,
               m_CurrentAcceleration,
               0.005,1,iter);
-          dynamicfilter_->ForwardKinematics(m_CurrentConfiguration,m_CurrentVelocity,m_CurrentAcceleration);
+          dynamicfilter_->InverseDynamics(m_CurrentConfiguration,m_CurrentVelocity,m_CurrentAcceleration);
           iter++;
           fillInDebugFiles();
         }
@@ -259,7 +259,7 @@ public:
         m_CurrentVelocity,
         m_CurrentAcceleration,
         0.005,1,0);
-    dynamicfilter_->ForwardKinematics(m_CurrentConfiguration,m_CurrentVelocity,m_CurrentAcceleration);
+    dynamicfilter_->InverseDynamics(m_CurrentConfiguration,m_CurrentVelocity,m_CurrentAcceleration);
   }
 
 protected:
@@ -703,7 +703,11 @@ protected:
     }
 
     {
-      istringstream strm2(":omega2 3");
+      istringstream strm2(":omega2 0");
+      aPGI.ParseCmd(strm2);
+    }
+    {
+      istringstream strm2(":omega -3");
       aPGI.ParseCmd(strm2);
     }