diff --git a/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp b/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
index 9a53b81cdd2697225bb771c12b8fbc6edb9d86b7..c135903d3b0d6258956069d6be45675668ca6161 100644
--- a/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
+++ b/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
@@ -803,7 +803,7 @@ computing the analytical trajectories. */
static int iteration = 0;
/// \brief Debug Purpose
/// --------------------
- oss.str("ZMPDiscretisationBuffer.dat");
+ oss.str("/home/mnaveau/Desktop/mehdi_data/walkstraight20cmperstep.dat");
aFileName = oss.str();
aof.open(aFileName.c_str(),ofstream::out);
aof.close();
diff --git a/src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp b/src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp
index f9c8f396d1eea5c94336148903fee2a4527bb62e..efd8302b4b51596f6766097971333b61a60e0474 100644
--- a/src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp
+++ b/src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp
@@ -62,9 +62,15 @@ OrientationsPreview::OrientationsPreview(CjrlHumanoidDynamicRobot *aHS)
uLimitRightHipYaw_ = 45.0/180.0*M_PI;
}
+ cout << "lLimitLeftHipYaw_ = " << lLimitLeftHipYaw_ * 180/M_PI << endl
+ << "uLimitLeftHipYaw_ = " << uLimitLeftHipYaw_ * 180/M_PI << endl
+ << "lLimitRightHipYaw_ = " << lLimitRightHipYaw_ * 180/M_PI << endl
+ << "uLimitRightHipYaw_ = " << uLimitRightHipYaw_ * 180/M_PI << endl ;
uvLimitFoot_ = fabs(leftHip->upperVelocityBound(0));
+ cout << "upper velocity Limit Foot_ = " << uvLimitFoot_ << endl ;
+
//Acceleration limit not given by HRP2JRLmain.wrl
uaLimitHipYaw_ = 0.1;
//Maximal cross angle between the feet
diff --git a/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp b/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
index 64bdabc10ae829985a44593705c9a150687a2704..183d3912bb3c2d0e873d776b76bf072e1ea788dc 100644
--- a/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
+++ b/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
@@ -526,6 +526,31 @@ void
}
VRQPGenerator_->LastFootSol(Solution_);
+
+// Problem_.dump(MATRIX_Q,"/home/mnaveau/devel/Walking-Pattern-Generator-Prototype/tests/data/Q.dat");
+// Problem_.dump(VECTOR_D,"/home/mnaveau/devel/Walking-Pattern-Generator-Prototype/tests/data/P.dat");
+//
+// Problem_.dump(MATRIX_DU,"/home/mnaveau/devel/Walking-Pattern-Generator-Prototype/tests/data/A.dat");
+// Problem_.dump(VECTOR_DS,"/home/mnaveau/devel/Walking-Pattern-Generator-Prototype/tests/data/lbA.dat");
+//
+// Problem_.dump(VECTOR_XL,"/home/mnaveau/devel/Walking-Pattern-Generator-Prototype/tests/data/LB.dat");
+// Problem_.dump(VECTOR_XU,"/home/mnaveau/devel/Walking-Pattern-Generator-Prototype/tests/data/UB.dat");
+//
+// Problem_.dump(MATRIX_Q,cout);
+// Problem_.dump(VECTOR_D,cout);
+//
+// Problem_.dump(MATRIX_DU,cout);
+// Problem_.dump(VECTOR_DS,cout);
+//
+// Problem_.dump(VECTOR_XL,cout);
+// Problem_.dump(VECTOR_XU,cout);
+
+ static int patate = 0 ;
+ if (patate == 50)
+ int stop = 0 ;
+
+ ++patate;
+
// INITIALIZE INTERPOLATION:
// ------------------------
CurrentIndex_ = FinalCOMTraj_deq.size();
@@ -613,8 +638,8 @@ void
{
filteredCoM[i].x[j] += outputDeltaCOMTraj_deq[i].x[j] ;
filteredCoM[i].y[j] += outputDeltaCOMTraj_deq[i].y[j] ;
- FinalCOMTraj_deq[i].x[j] += outputDeltaCOMTraj_deq[i].x[j] ;
- FinalCOMTraj_deq[i].y[j] += outputDeltaCOMTraj_deq[i].y[j] ;
+ //FinalCOMTraj_deq[i].x[j] += outputDeltaCOMTraj_deq[i].x[j] ;
+ //FinalCOMTraj_deq[i].y[j] += outputDeltaCOMTraj_deq[i].y[j] ;
}
dynamicFilter_->ComputeZMPMB(m_SamplingPeriod, filteredCoM[i],
FinalLeftFootTraj_deq[i], FinalRightFootTraj_deq[i],
@@ -867,7 +892,48 @@ void
}
aof.close();
-
+ /// \brief Debug Purpose
+ /// --------------------
+ oss.str("/home/mnaveau/devel/Walking-Pattern-Generator-Prototype/tests/data/walkSideward2m_s.dat");
+ aFileName = oss.str();
+ if(iteration == 0)
+ {
+ aof.open(aFileName.c_str(),ofstream::out);
+ aof.close();
+ }
+ ///----
+ aof.open(aFileName.c_str(),ofstream::app);
+ aof.precision(8);
+ aof.setf(ios::scientific, ios::floatfield);
+ int nstep = Solution_.SupportStates_deq.back().StepNumber ;
+ for (unsigned int i = 0 ; i < QP_N_ ; ++i )
+ {
+ aof << filterprecision( Solution_.Solution_vec[i] ) << " " ; // 1
+ }
+ for (unsigned int i = 0 ; i < 2 ; ++i )
+ {
+ if (i >= nstep)
+ {
+ aof << filterprecision( 0.0 ) << " " ; // 1
+ }else{
+ aof << filterprecision( Solution_.Solution_vec[2*QP_N_+i] ) << " " ; // 1
+ }
+ }
+ for (unsigned int i = 0 ; i < QP_N_ ; ++i )
+ {
+ aof << filterprecision( Solution_.Solution_vec[QP_N_+i] ) << " " ; // 1
+ }
+ for (unsigned int i = 0 ; i < 2 ; ++i )
+ {
+ if (i >= nstep)
+ {
+ aof << filterprecision( 0.0 ) << " " ; // 1
+ }else{
+ aof << filterprecision( Solution_.Solution_vec[2*QP_N_+nstep+i] ) << " " ; // 1
+ }
+ }
+ aof << endl ;
+ aof.close();
diff --git a/src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp b/src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp
index 38de469a59b1136bc1872fcb95935f2fb503e663..7a6f6d3107b80269923895902b7fef07ddf279e5 100644
--- a/src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp
+++ b/src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp
@@ -299,12 +299,12 @@ GeneratorVelRef::build_inequalities_cop(linear_inequality_t & Inequalities,
{
if( prwSS_it->StateChanged ){
RFI_->set_vertices( CoPHull, *prwSS_it, INEQ_COP );
- if( prwSS_it->Foot == LEFT )
- cout << "LEFT \n" ;
- else
- cout << "RIGHT \n" ;
- for(unsigned int k = 0 ; k < CoPHull.X_vec.size() ; ++k)
- cout << CoPHull.X_vec[k] << " " << CoPHull.Y_vec[k] << endl ;
+// if( prwSS_it->Foot == LEFT )
+// cout << "LEFT \n" ;
+// else
+// cout << "RIGHT \n" ;
+// for(unsigned int k = 0 ; k < CoPHull.X_vec.size() ; ++k)
+// cout << CoPHull.X_vec[k] << " " << CoPHull.Y_vec[k] << endl ;
}
RFI_->compute_linear_system( CoPHull, *prwSS_it );
@@ -345,12 +345,12 @@ GeneratorVelRef::build_inequalities_feet( linear_inequality_t & Inequalities,
RFI_->set_vertices( FeetHull, *prwSS_it, INEQ_FEET );
prwSS_it++;
- if( prwSS_it->Foot == LEFT )
- cout << "LEFT \n" ;
- else
- cout << "RIGHT \n" ;
- for(unsigned int k = 0 ; k < FeetHull.X_vec.size() ; ++k)
- cout << FeetHull.X_vec[k] << " " << FeetHull.Y_vec[k] << endl ;
+// if( prwSS_it->Foot == LEFT )
+// cout << "LEFT \n" ;
+// else
+// cout << "RIGHT \n" ;
+// for(unsigned int k = 0 ; k < FeetHull.X_vec.size() ; ++k)
+// cout << FeetHull.X_vec[k] << " " << FeetHull.Y_vec[k] << endl ;
RFI_->compute_linear_system( FeetHull, *prwSS_it );
@@ -364,7 +364,7 @@ GeneratorVelRef::build_inequalities_feet( linear_inequality_t & Inequalities,
prwSS_it++;
}
- cout << "############################################################\n";
+ //cout << "############################################################\n";
}
@@ -417,10 +417,10 @@ GeneratorVelRef::build_constraints_cop(const linear_inequality_t & IneqCoP,
compute_term ( MM_, -1.0, IneqCoP.D.Y_mat, Robot_->DynamicsCoPJerk().U );
Pb.add_term_to( MATRIX_DU, MM_, NbConstraints, N_ );
- cout << "IneqCoP.D.X_mat = " << IneqCoP.D.X_mat << endl ;
- cout << "Robot_->DynamicsCoPJerk().U = " << Robot_->DynamicsCoPJerk().U << endl ;
- cout << "IneqCoP.D.Y_mat = " << IneqCoP.D.Y_mat << endl ;
- cout << "Robot_->DynamicsCoPJerk().U = " << Robot_->DynamicsCoPJerk().U << endl ;
+// cout << "IneqCoP.D.X_mat = " << IneqCoP.D.X_mat << endl ;
+// cout << "Robot_->DynamicsCoPJerk().U = " << Robot_->DynamicsCoPJerk().U << endl ;
+// cout << "IneqCoP.D.Y_mat = " << IneqCoP.D.Y_mat << endl ;
+// cout << "Robot_->DynamicsCoPJerk().U = " << Robot_->DynamicsCoPJerk().U << endl ;
// +D*V
@@ -428,7 +428,7 @@ GeneratorVelRef::build_constraints_cop(const linear_inequality_t & IneqCoP,
// + Robot_->LeftFoot().Dynamics(COP).U + Robot_->RightFoot().Dynamics(COP).U );
Pb.add_term_to( MATRIX_DU, MM_, NbConstraints, 2*N_ );
- cout << "IntermedData_->State().V = " << IntermedData_->State().V << endl ;
+// cout << "IntermedData_->State().V = " << IntermedData_->State().V << endl ;
compute_term ( MM_, 1.0, IneqCoP.D.Y_mat, IntermedData_->State().V );
// + Robot_->LeftFoot().Dynamics(COP).U + Robot_->RightFoot().Dynamics(COP).U );
Pb.add_term_to( MATRIX_DU, MM_, NbConstraints, 2*N_+NbStepsPreviewed );
@@ -706,6 +706,8 @@ GeneratorVelRef::update_problem( QPProblem & Pb, const std::deque<support_state_
compute_term ( MV_, -InstVel.weight, VelDynamics.UT, State.Ref.Global.Y_vec );
Pb.add_term_to( VECTOR_D, MV_, N_ );
+
+
// COP - centering terms
const IntermedQPMat::objective_variant_t & COPCent = IntermedData_->Objective( COP_CENTERING );
const linear_dynamics_t & CoPDynamics = Robot_->DynamicsCoPJerk( );
@@ -737,7 +739,6 @@ GeneratorVelRef::update_problem( QPProblem & Pb, const std::deque<support_state_
Pb.add_term_to( VECTOR_D, MV_, 2*N_ );
compute_term ( MV_, COPCent.weight, State.VT, State.VcY );
Pb.add_term_to( VECTOR_D, MV_, 2*N_+nbStepsPreviewed );
-
}
diff --git a/tests/CommonTools.cpp b/tests/CommonTools.cpp
index 51f0dd63c1a560b478aa9d6abaa653b4977b36f3..3c7e625cbbf09b7bd958a7f8c0c884c2f83cdf2a 100644
--- a/tests/CommonTools.cpp
+++ b/tests/CommonTools.cpp
@@ -59,8 +59,8 @@ namespace PatternGeneratorJRL {
":previewcontroltime 1.6",
":omega 0.0",
":stepheight 0.07",
- ":singlesupporttime 1.56",
- ":doublesupporttime 0.04",
+ ":singlesupporttime 0.78",
+ ":doublesupporttime 0.02",
":armparameters 0.5",
":LimitsFeasibility 0.0",
":ZMPShiftParameters 0.015 0.015 0.015 0.015",
diff --git a/tests/TestHerdt2010DynamicFilter.cpp b/tests/TestHerdt2010DynamicFilter.cpp
index ace4498025da2a89c655c4c61664c1d2b3b10556..6ac9212883984bce57ead7811cb7013708f7d2d6 100644
--- a/tests/TestHerdt2010DynamicFilter.cpp
+++ b/tests/TestHerdt2010DynamicFilter.cpp
@@ -269,11 +269,23 @@ protected:
void fillInDebugFiles( )
{
+ static int cleanFiles = 0 ;
+ if (cleanFiles == 0){
+ ofstream aof;
+ string aFileName;
+ string path = "/home/mnaveau/devel/Walking-Pattern-Generator-Prototype/tests/data/" ;
+ aFileName = path + m_TestName;
+ aFileName += "TestFGPI.dat";
+ aof.open(aFileName.c_str(),ofstream::out);
+ aof.close();
+ }
+ cleanFiles = 1 ;
if (m_DebugFGPI)
{
ofstream aof;
string aFileName;
- aFileName = m_TestName;
+ string path = "/home/mnaveau/devel/Walking-Pattern-Generator-Prototype/tests/data/" ;
+ aFileName = path + m_TestName;
aFileName += "TestFGPI.dat";
aof.open(aFileName.c_str(),ofstream::app);
aof.precision(8);
@@ -286,45 +298,37 @@ protected:
<< filterprecision(m_OneStep.finalCOMPosition.x[1] ) << " " // 6
<< filterprecision(m_OneStep.finalCOMPosition.y[1] ) << " " // 7
<< filterprecision(m_OneStep.finalCOMPosition.z[1] ) << " " // 8
- << filterprecision(m_OneStep.ZMPTarget(0) ) << " " // 9
- << filterprecision(m_OneStep.ZMPTarget(1) ) << " " // 10
- << filterprecision(m_OneStep.LeftFootPosition.x ) << " " // 11
- << filterprecision(m_OneStep.LeftFootPosition.y ) << " " // 12
- << filterprecision(m_OneStep.LeftFootPosition.z ) << " " // 13
- << filterprecision(m_OneStep.LeftFootPosition.dx ) << " " // 14
- << filterprecision(m_OneStep.LeftFootPosition.dy ) << " " // 15
- << filterprecision(m_OneStep.LeftFootPosition.dz ) << " " // 16
- << filterprecision(m_OneStep.LeftFootPosition.ddx ) << " " // 17
- << filterprecision(m_OneStep.LeftFootPosition.ddy ) << " " // 18
- << filterprecision(m_OneStep.LeftFootPosition.ddz ) << " " // 19
- << filterprecision(m_OneStep.LeftFootPosition.theta*M_PI/180 ) << " " // 20
- << filterprecision(m_OneStep.LeftFootPosition.omega ) << " " // 21
- << filterprecision(m_OneStep.LeftFootPosition.omega2 ) << " " // 22
- << filterprecision(m_OneStep.RightFootPosition.x ) << " " // 23
- << filterprecision(m_OneStep.RightFootPosition.y ) << " " // 24
- << filterprecision(m_OneStep.RightFootPosition.z ) << " " // 25
- << filterprecision(m_OneStep.RightFootPosition.dx ) << " " // 26
- << filterprecision(m_OneStep.RightFootPosition.dy ) << " " // 27
- << filterprecision(m_OneStep.RightFootPosition.dz ) << " " // 28
- << filterprecision(m_OneStep.RightFootPosition.ddx ) << " " // 29
- << filterprecision(m_OneStep.RightFootPosition.ddy ) << " " // 30
- << filterprecision(m_OneStep.RightFootPosition.ddz ) << " " // 31
- << filterprecision(m_OneStep.RightFootPosition.theta*M_PI/180 ) << " " // 32
- << filterprecision(m_OneStep.RightFootPosition.omega ) << " " // 33
- << filterprecision(m_OneStep.RightFootPosition.omega2 ) << " " // 34
- << filterprecision(m_OneStep.ZMPTarget(0)*cos(m_CurrentConfiguration(5)) -
- m_OneStep.ZMPTarget(1)*sin(m_CurrentConfiguration(5))
- +m_CurrentConfiguration(0) ) << " " // 35
- << filterprecision(m_OneStep.ZMPTarget(0)*sin(m_CurrentConfiguration(5)) +
- m_OneStep.ZMPTarget(1)*cos(m_CurrentConfiguration(5))
- +m_CurrentConfiguration(1) ) << " " // 36
- << filterprecision(m_CurrentConfiguration(0) ) << " " // 37
- << filterprecision(m_CurrentConfiguration(1) ) << " "; // 38
- for (unsigned int i = 0 ; i < m_HDR->currentConfiguration().size() ; i++)
- {
- aof << filterprecision(m_HDR->currentConfiguration()(i)) << " " ; // 39 - 74
- }
-
+ << filterprecision(m_OneStep.finalCOMPosition.yaw[1] ) << " " // 9
+ << filterprecision(m_OneStep.finalCOMPosition.x[2] ) << " " // 10
+ << filterprecision(m_OneStep.finalCOMPosition.y[2] ) << " " // 11
+ << filterprecision(m_OneStep.finalCOMPosition.z[2] ) << " " // 12
+ << filterprecision(m_OneStep.finalCOMPosition.yaw[2] ) << " " // 13
+ << filterprecision(m_OneStep.ZMPTarget(0) ) << " " // 14
+ << filterprecision(m_OneStep.ZMPTarget(1) ) << " " // 15
+ << filterprecision(m_OneStep.LeftFootPosition.x ) << " " // 16
+ << filterprecision(m_OneStep.LeftFootPosition.y ) << " " // 17
+ << filterprecision(m_OneStep.LeftFootPosition.z ) << " " // 18
+ << filterprecision(m_OneStep.LeftFootPosition.dx ) << " " // 19
+ << filterprecision(m_OneStep.LeftFootPosition.dy ) << " " // 20
+ << filterprecision(m_OneStep.LeftFootPosition.dz ) << " " // 21
+ << filterprecision(m_OneStep.LeftFootPosition.ddx ) << " " // 22
+ << filterprecision(m_OneStep.LeftFootPosition.ddy ) << " " // 23
+ << filterprecision(m_OneStep.LeftFootPosition.ddz ) << " " // 24
+ << filterprecision(m_OneStep.LeftFootPosition.theta*M_PI/180 ) << " " // 25
+ << filterprecision(m_OneStep.LeftFootPosition.omega ) << " " // 26
+ << filterprecision(m_OneStep.LeftFootPosition.omega2 ) << " " // 27
+ << filterprecision(m_OneStep.RightFootPosition.x ) << " " // 28
+ << filterprecision(m_OneStep.RightFootPosition.y ) << " " // 29
+ << filterprecision(m_OneStep.RightFootPosition.z ) << " " // 30
+ << filterprecision(m_OneStep.RightFootPosition.dx ) << " " // 31
+ << filterprecision(m_OneStep.RightFootPosition.dy ) << " " // 32
+ << filterprecision(m_OneStep.RightFootPosition.dz ) << " " // 33
+ << filterprecision(m_OneStep.RightFootPosition.ddx ) << " " // 34
+ << filterprecision(m_OneStep.RightFootPosition.ddy ) << " " // 35
+ << filterprecision(m_OneStep.RightFootPosition.ddz ) << " " // 36
+ << filterprecision(m_OneStep.RightFootPosition.theta*M_PI/180 ) << " " // 37
+ << filterprecision(m_OneStep.RightFootPosition.omega ) << " " // 38
+ << filterprecision(m_OneStep.RightFootPosition.omega2 ) << " " ;// 39
aof << endl;
aof.close();
}
@@ -748,21 +752,12 @@ protected:
localeventHandler_t Handler ;
};
-#define localNbOfEvents 12
+#define localNbOfEvents 3
struct localEvent events [localNbOfEvents] =
{
- { 5*200,&TestHerdt2010::walkForward},
- {10*200,&TestHerdt2010::walkSidewards},
- {25*200,&TestHerdt2010::startTurningRightOnSpot},
- {35*200,&TestHerdt2010::walkForward},
- {45*200,&TestHerdt2010::startTurningLeftOnSpot},
- {55*200,&TestHerdt2010::walkForward},
- {65*200,&TestHerdt2010::startTurningRightOnSpot},
- {75*200,&TestHerdt2010::walkForward},
- {85*200,&TestHerdt2010::startTurningLeft},
- {95*200,&TestHerdt2010::startTurningRight},
- {105*200,&TestHerdt2010::stop},
- {110*200,&TestHerdt2010::stopOnLineWalking}
+ { 5*200,&TestHerdt2010::walkForward},
+ {30*200,&TestHerdt2010::stop},
+ {35*200,&TestHerdt2010::stopOnLineWalking}
};
// Test when triggering event.
@@ -778,12 +773,12 @@ protected:
void generateEventEmergencyStop()
{
-#define localNbOfEventsEMS 5
+#define localNbOfEventsEMS 3
struct localEvent events [localNbOfEventsEMS] =
- { {5*200,&TestHerdt2010::startTurningLeft2},
- {10*200,&TestHerdt2010::startTurningRight2},
- {15.2*200,&TestHerdt2010::stop},
- {20.8*200,&TestHerdt2010::stopOnLineWalking}
+ {
+ { 5*200,&TestHerdt2010::walkSidewards},
+ {30*200,&TestHerdt2010::stop},
+ {35*200,&TestHerdt2010::stopOnLineWalking}
};
// Test when triggering event.
diff --git a/tests/TestMorisawa2007.cpp b/tests/TestMorisawa2007.cpp
index 55b0a36a8f49432d6693bdb86eff3bf18453898a..05b619d97761e94997887a78ffa27c897ac92bac 100644
--- a/tests/TestMorisawa2007.cpp
+++ b/tests/TestMorisawa2007.cpp
@@ -705,18 +705,49 @@ protected:
{
istringstream strm2(":stepstairseq\
0.0 -0.105 0.0 0.0\
- 0.0 0.19 0.0 0.0\
- 0.0 -0.19 0.0 0.0\
- 0.0 0.19 0.0 0.0\
- 0.0 -0.19 0.0 0.0\
- 0.0 0.19 0.0 0.0\
- 0.0 -0.19 0.0 0.0\
- 0.0 0.19 0.0 0.0\
- 0.0 -0.19 0.0 0.0\
- 0.0 0.19 0.0 0.0\
- 0.0 -0.19 0.0 0.0\
+ 0.2 0.19 0.0 0.0\
+ 0.2 -0.19 0.0 0.0\
+ 0.2 0.19 0.0 0.0\
+ 0.2 -0.19 0.0 0.0\
+ 0.2 0.19 0.0 0.0\
+ 0.2 -0.19 0.0 0.0\
+ 0.2 0.19 0.0 0.0\
+ 0.2 -0.19 0.0 0.0\
+ 0.2 0.19 0.0 0.0\
+ 0.2 -0.19 0.0 0.0\
0.0 0.19 0.0 0.0\
");
+
+// istringstream strm2(":stepstairseq\
+// 0.0 -0.105 0.0 0.0\
+// 0.1 0.19 0.0 0.0\
+// 0.1 -0.19 0.0 0.0\
+// 0.1 0.19 0.0 0.0\
+// 0.1 -0.19 0.0 0.0\
+// 0.1 0.19 0.0 0.0\
+// 0.1 -0.19 0.0 0.0\
+// 0.1 0.19 0.0 0.0\
+// 0.1 -0.19 0.0 0.0\
+// 0.1 0.19 0.0 0.0\
+// 0.1 -0.19 0.0 0.0\
+// 0.0 0.19 0.0 0.0\
+// ");
+
+// istringstream strm2(":stepstairseq\
+// 0.0 -0.105 0.0 0.0\
+// 0.0 0.19 0.0 0.0\
+// 0.0 -0.19 0.0 0.0\
+// 0.0 0.19 0.0 0.0\
+// 0.0 -0.19 0.0 0.0\
+// 0.0 0.19 0.0 0.0\
+// 0.0 -0.19 0.0 0.0\
+// 0.0 0.19 0.0 0.0\
+// 0.0 -0.19 0.0 0.0\
+// 0.0 0.19 0.0 0.0\
+// 0.0 -0.19 0.0 0.0\
+// 0.0 0.19 0.0 0.0\
+// ");
+
aPGI.ParseCmd(strm2);
}