From 69ee0f8efe5b95ca1cd0066be145061e87c9fab3 Mon Sep 17 00:00:00 2001
From: mnaveau <maximilien.naveau@laas.fr>
Date: Tue, 18 Mar 2014 10:12:49 +0100
Subject: [PATCH] adding debuging features to the kajita2003 test it
creates files that can be used by openhrp to replay the solution of the test
on the robot in kinematics simulation mode
---
tests/TestKajita2003.cpp | 15 ++++++++++++++-
1 file changed, 14 insertions(+), 1 deletion(-)
diff --git a/tests/TestKajita2003.cpp b/tests/TestKajita2003.cpp
index 24862a9f..d21b5c4d 100644
--- a/tests/TestKajita2003.cpp
+++ b/tests/TestKajita2003.cpp
@@ -41,6 +41,19 @@ enum Profiles_t {
PROFIL_PB_FLORENT_SEQ2 // 4
};
+double filterprecision(double adb)
+{
+ if (fabs(adb)<1e-7)
+ return 0.0;
+
+ if (fabs(adb)>1e7)
+ return 1e7 ;
+
+ double ladb2 = adb * 1e7;
+ double lintadb2 = trunc(ladb2);
+ return lintadb2/1e7;
+}
+
class TestKajita2003: public TestObject
{
@@ -167,7 +180,7 @@ protected:
aof.open(aFileName.c_str(),ofstream::app);
aof.precision(8);
aof.setf(ios::scientific, ios::floatfield);
- for(unsigned int j = 0 ; j < m_numberOfSample ; j++){
+ for(unsigned int j = 0 ; j < 20 ; j++){
aof << filterprecision( iteration * 0.5 ) << " " ; // 1
aof << filterprecision( 0.0 ) << " " ; // 1
aof << filterprecision( 0.0 ) << " " ; // 1
--
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