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Guilhem Saurel
jrl-walkgen
Commits
2cdf96f8
Commit
2cdf96f8
authored
Apr 24, 2020
by
Olivier Stasse
Committed by
Guilhem Saurel
Apr 30, 2020
Browse files
[Naveau2015] Fix a problem with the orientation.
parent
fdd2a0f5
Changes
1
Hide whitespace changes
Inline
Side-by-side
src/GlobalStrategyManagers/CoMAndFootOnlyStrategy.cpp
View file @
2cdf96f8
...
...
@@ -53,9 +53,9 @@ int CoMAndFootOnlyStrategy::OneGlobalStepOfControl(
FootAbsolutePosition
&
LeftFootPosition
,
FootAbsolutePosition
&
RightFootPosition
,
Eigen
::
VectorXd
&
ZMPRefPos
,
COMState
&
finalCOMPosition
,
Eigen
::
VectorXd
&
,
//
CurrentConfiguration,
Eigen
::
VectorXd
&
,
//
CurrentVelocity,
Eigen
::
VectorXd
&
)
//
CurrentAcceleration)
Eigen
::
VectorXd
&
CurrentConfiguration
,
Eigen
::
VectorXd
&
CurrentVelocity
,
Eigen
::
VectorXd
&
CurrentAcceleration
)
{
ODEBUG
(
"Begin OneGlobalStepOfControl "
<<
m_LeftFootPositions
->
size
()
<<
" "
<<
m_RightFootPositions
->
size
()
...
...
@@ -87,6 +87,18 @@ int CoMAndFootOnlyStrategy::OneGlobalStepOfControl(
return
-
4
;
}
CurrentConfiguration
[
3
]
=
finalCOMPosition
.
roll
[
0
];
CurrentConfiguration
[
4
]
=
finalCOMPosition
.
pitch
[
0
];
CurrentConfiguration
[
5
]
=
finalCOMPosition
.
yaw
[
0
];
CurrentVelocity
[
3
]
=
finalCOMPosition
.
roll
[
1
];
CurrentVelocity
[
4
]
=
finalCOMPosition
.
pitch
[
1
];
CurrentVelocity
[
5
]
=
finalCOMPosition
.
yaw
[
1
];
CurrentAcceleration
[
3
]
=
finalCOMPosition
.
roll
[
2
];
CurrentAcceleration
[
4
]
=
finalCOMPosition
.
pitch
[
2
];
CurrentAcceleration
[
5
]
=
finalCOMPosition
.
yaw
[
2
];
if
(
m_ZMPPositions
->
size
()
>
0
)
{
ZMPPosition
aZMPPosition
=
(
*
m_ZMPPositions
)[
0
];
ZMPRefPos
(
0
)
=
aZMPPosition
.
px
;
...
...
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