From 557c792974516704b0b7eddb4effe87e76e84f6c Mon Sep 17 00:00:00 2001
From: mnaveau <maximilien.naveau@laas.fr>
Date: Thu, 3 Jul 2014 19:51:44 +0200
Subject: [PATCH] Filtering Morisawa PG in ZMPDiscretization function
---
src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp | 4 ++--
src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp | 5 +++++
2 files changed, 7 insertions(+), 2 deletions(-)
diff --git a/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp b/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
index c5f5f475..95c0d11b 100644
--- a/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
+++ b/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
@@ -527,8 +527,8 @@ computing the analytical trajectories. */
{
m_RelativeFootPositions = RelativeFootPositions;
/* This part computes the CoM and ZMP trajectory giving the foot position information.
-It also creates the analytical feet trajectories.
-*/
+ It also creates the analytical feet trajectories.
+ */
MAL_S3x3_MATRIX(lMStartingCOMState,double);
lMStartingCOMState(0,0)= lStartingCOMState.x[0];
diff --git a/src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp b/src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp
index 6d97f76c..f5282d80 100644
--- a/src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp
+++ b/src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp
@@ -526,6 +526,11 @@ int DynamicFilter::OptimalControl(
outputDeltaCOMTraj_deq_.resize(NCtrl_);
// calcul of the preview control along the "deltaZMP_deq_"
+ for(int j=0;j<3;j++)
+ {
+ deltax_(j,0) = 0 ;
+ deltay_(j,0) = 0 ;
+ }
for (unsigned i = 0 ; i < NCtrl_ ; i++ )
{
aof << i*controlPeriod_ << " " // 1
--
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