tune the paramter of the dynamic filter

src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp

@@ -268,8 +268,11 @@ int DynamicFilter::OnLinefilter(
     }
     for(unsigned i=0 ; i<N-1  ; ++i)
     {
-      Polynome3 polyX(inc,ZMPMB_vec_[i][0],dZMPMB_vec[i][0],ZMPMB_vec_[i+1][0],dZMPMB_vec[i+1][0]);
-      Polynome3 polyY(inc,ZMPMB_vec_[i][1],dZMPMB_vec[i][1],ZMPMB_vec_[i+1][1],dZMPMB_vec[i+1][1]);
+      Polynome5 polyX(1.0,0.0) ;
+      Polynome5 polyY(1.0,0.0) ;
+      polyX.SetParameters(inc,ZMPMB_vec_[i][0],dZMPMB_vec[i][0],0.0,ZMPMB_vec_[i+1][0],dZMPMB_vec[i+1][0],0.0);
+      polyY.SetParameters(inc,ZMPMB_vec_[i][1],dZMPMB_vec[i][1],0.0,ZMPMB_vec_[i+1][1],dZMPMB_vec[i+1][1],0.0);
+
       for(int j = 1 ; j < inc ; ++j)
       {
         zmpmb_i_[(i*inc)+j][0] = polyX.Compute(j) ;

src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedSQP.cpp

@@ -47,7 +47,7 @@
 
 #include <Debug.hh>
 
-#define DEBUG
+//#define DEBUG
 
 using namespace std;
 using namespace PatternGeneratorJRL;
@@ -65,8 +65,8 @@ ZMPRefTrajectoryGeneration(SPM),OFTG_(NULL),dynamicFilter_(NULL),CurrentIndexUpp
   m_SamplingPeriod = 0.005 ;
 
   // Generator Management
-  InterpolationPeriod_ = m_SamplingPeriod*7;
-  previewDuration_ =  (SQP_N_-1)*SQP_T_ ;
+  InterpolationPeriod_ = m_SamplingPeriod;
+  previewDuration_ =  (3.5-1)*SQP_T_ ;
   NbSampleControl_ = (int)round(SQP_T_/m_SamplingPeriod) ;
   NbSampleInterpolation_ = (int)round(SQP_T_/InterpolationPeriod_) ;
   previewSize_ = SQP_N_ ;

tests/TestNaveau2015.cpp

@@ -694,7 +694,7 @@ protected:
 //    }
 
     {
-      istringstream strm2(":addoneobstacle 1.5 -1.5 0.23");
+      istringstream strm2(":addoneobstacle 1.5 -0.5 0.23");
       m_PGI->ParseCmd(strm2);
     }
 
@@ -913,8 +913,8 @@ protected:
 //      {25*200,&TestNaveau2015::walkForward2m_s},
 //      {30*200,&TestNaveau2015::walkSidewards1m_s},
 //      {35*200,&TestNaveau2015::walkSidewards2m_s},
-      {500*200,&TestNaveau2015::stop},
-      {510*200,&TestNaveau2015::stopOnLineWalking}
+      {50*200,&TestNaveau2015::stop},
+      {60*200,&TestNaveau2015::stopOnLineWalking}
 
   };
     // Test when triggering event.