From a023f1a8721b3088ff339cb3830556808a3fcc41 Mon Sep 17 00:00:00 2001
From: mnaveau <maximilien.naveau@laas.fr>
Date: Mon, 10 Feb 2014 10:03:25 +0100
Subject: [PATCH] Continuous buffer, the dynamic filter is not set correctly.
---
.../ZMPVelocityReferencedQP.cpp | 40 +++++++++----------
1 file changed, 20 insertions(+), 20 deletions(-)
diff --git a/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp b/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
index 6f1487db..88a49168 100644
--- a/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
+++ b/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
@@ -556,26 +556,7 @@ ZMPVelocityReferencedQP::OnLine(double time,
// DYNAMIC FILTER
// --------------
- //DynamicFilter( m_ZMPTraj_deq, m_COMTraj_deq, m_LeftFootTraj_deq, m_RightFootTraj_deq, currentIndex );
-
- ofstream aof2;
- if (NbOfIt == 0)
- {
- aof2.open("TestHerdt2010DynamicFilterBuffer.dat",ofstream::out);
- aof2.close();
- }
- aof2.open("TestHerdt2010DynamicFilterBuffer.dat",ofstream::app);
- aof2.precision(8);
- aof2.setf(ios::scientific, ios::floatfield);
- for (int unsigned i = currentIndex ; i < QP_N_ * m_numberOfSample + currentIndex; i++){
- aof2 << filterprecision(m_COMTraj_deq[i].x[0]) << " "
- << filterprecision(m_COMTraj_deq[i].y[0]) << " ";
- }
- aof2 << filterprecision(CoM_().x[0]) << " "
- << filterprecision(CoM_().y[0]) << " "
- << filterprecision(CoM2_().x[0]) << " "
- << filterprecision(CoM2_().y[0]) << endl ;
- NbOfIt++;
+ DynamicFilter( m_ZMPTraj_deq, m_COMTraj_deq, m_LeftFootTraj_deq, m_RightFootTraj_deq, currentIndex );
// RECOPIE DU BUFFER
FinalCOMTraj_deq.resize( m_numberOfSample + currentIndex );
@@ -591,6 +572,25 @@ ZMPVelocityReferencedQP::OnLine(double time,
FinalRightFootTraj_deq[i] = m_RightFootTraj_deq[i] ;
}
+ ofstream aof2;
+ if (NbOfIt == 0)
+ {
+ aof2.open("TestHerdt2010DynamicFilterBuffer.dat",ofstream::out);
+ aof2.close();
+ }
+ aof2.open("TestHerdt2010DynamicFilterBuffer.dat",ofstream::app);
+ aof2.precision(8);
+ aof2.setf(ios::scientific, ios::floatfield);
+ for (int unsigned i = currentIndex ; i < m_numberOfSample + currentIndex; i++){
+ aof2 << filterprecision(FinalCOMTraj_deq[i].x[0]) << " "
+ << filterprecision(FinalCOMTraj_deq[i].y[0]) << " "
+ << filterprecision(FinalZMPTraj_deq[i].px) << " "
+ << filterprecision(FinalZMPTraj_deq[i].py) << " ";
+ }
+ aof2 << endl ;
+ NbOfIt++;
+
+
// Specify that we are in the ending phase.
if (EndingPhase_ == false)
{
--
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