From 431159f3f39fe0119347c6ae2a69b6316bea3d45 Mon Sep 17 00:00:00 2001
From: mnaveau <maximilien.naveau@laas.fr>
Date: Fri, 19 Sep 2014 09:04:02 +0200
Subject: [PATCH] include slope possibility
---
.../LeftAndRightFootTrajectoryGenerationMultiple.cpp | 2 ++
.../AnalyticalMorisawaCompact.cpp | 4 ++--
tests/TestMorisawa2007.cpp | 10 ----------
3 files changed, 4 insertions(+), 12 deletions(-)
diff --git a/src/FootTrajectoryGeneration/LeftAndRightFootTrajectoryGenerationMultiple.cpp b/src/FootTrajectoryGeneration/LeftAndRightFootTrajectoryGenerationMultiple.cpp
index 2dac5527..dec32326 100644
--- a/src/FootTrajectoryGeneration/LeftAndRightFootTrajectoryGenerationMultiple.cpp
+++ b/src/FootTrajectoryGeneration/LeftAndRightFootTrajectoryGenerationMultiple.cpp
@@ -146,6 +146,8 @@ void LeftAndRightFootTrajectoryGenerationMultiple::SetAnInterval(unsigned int In
FootInitialPosition.dtheta);
// Omega
+ cout << "Init omega = " << FootInitialPosition.omega << endl ;
+ cout << "Final omega = " << FootFinalPosition.omega << endl ;
aFTGM->SetParametersWithInitPosInitSpeed(IntervalIndex,
FootTrajectoryGenerationStandard::OMEGA_AXIS,
m_DeltaTj[IntervalIndex],
diff --git a/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp b/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
index c135903d..f50972a9 100644
--- a/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
+++ b/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
@@ -683,8 +683,8 @@ computing the analytical trajectories. */
{
filteredCoM[i].x[j] += outputDeltaCOMTraj_deq[i].x[j] ;
filteredCoM[i].y[j] += outputDeltaCOMTraj_deq[i].y[j] ;
- COMStates[i].x[j] += outputDeltaCOMTraj_deq[i].x[j] ;
- COMStates[i].y[j] += outputDeltaCOMTraj_deq[i].y[j] ;
+ //COMStates[i].x[j] += outputDeltaCOMTraj_deq[i].x[j] ;
+ //COMStates[i].y[j] += outputDeltaCOMTraj_deq[i].y[j] ;
}
m_kajitaDynamicFilter->ComputeZMPMB(m_SamplingPeriod, filteredCoM[i],
LeftFootAbsolutePositions[i], RightFootAbsolutePositions[i],
diff --git a/tests/TestMorisawa2007.cpp b/tests/TestMorisawa2007.cpp
index 909f6f7b..6acf0e40 100644
--- a/tests/TestMorisawa2007.cpp
+++ b/tests/TestMorisawa2007.cpp
@@ -701,16 +701,6 @@ protected:
istringstream strm2(":SetAlgoForZmpTrajectory Morisawa");
aPGI.ParseCmd(strm2);
}
-
- {
- istringstream strm2(":omega2 0");
- aPGI.ParseCmd(strm2);
- }
- {
- istringstream strm2(":omega -3");
- aPGI.ParseCmd(strm2);
- }
-
{
istringstream strm2(":stepstairseq\
0.0 -0.105 0.0 0.0\
--
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