From d64301f1b93771ae277ada9fb505b4c8793641e3 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <olivier.stasse@gmail.com>
Date: Thu, 2 Oct 2014 16:20:41 +0200
Subject: [PATCH] To make it feasible by the robot, the step have to be two
times slower.
---
.../AnalyticalMorisawaCompact.cpp | 3 ++-
tests/TestMorisawa2007.cpp | 15 +++++++++++++--
2 files changed, 15 insertions(+), 3 deletions(-)
diff --git a/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp b/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
index 418f860f..6359a61d 100644
--- a/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
+++ b/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
@@ -2867,7 +2867,7 @@ new step has to be generate.
double upRight1 = 0.9 ,upLeft1 = 0.0;
double up_a=0.0, up_b=0.0;
- double down = 0.3, downRight =0.9, downLeft = 0.0;
+ double down = 0.5, downRight =0.9, downLeft = 0.0;
double down_a=0.0, down_b=0.0;
if (t>moving_time){ // we start analyze since 2nd step
@@ -2961,6 +2961,7 @@ new step has to be generate.
else if (m_AbsoluteSupportFootPositions[Index].z == m_AbsoluteSupportFootPositions[Index-1].z &&
m_RelativeFootPositions[Index-1].sz < 0) //second leg
{
+
deltaZ = -(m_AbsoluteSupportFootPositions[Index-2].z - m_AbsoluteSupportFootPositions[Index].z );
if (t <= Index*moving_time + m_RelativeFootPositions[Index].SStime )
CoMz = (t-Index*moving_time)*(1-down)*deltaZ/(m_RelativeFootPositions[Index].SStime) +
diff --git a/tests/TestMorisawa2007.cpp b/tests/TestMorisawa2007.cpp
index 63a43f8a..1dfcd551 100644
--- a/tests/TestMorisawa2007.cpp
+++ b/tests/TestMorisawa2007.cpp
@@ -784,6 +784,7 @@ protected:
aPGI.ParseCmd(strm2);
}
+
{
istringstream strm2(":stepstairseq 0.0 -0.105 0.0 0.0\
0.32 0.19 -0.15 0.0\
@@ -806,11 +807,21 @@ protected:
aPGI.ParseCmd(strm2);
}
+ {
+ istringstream strm2(":singlesupporttime 1.4");
+ aPGI.ParseCmd(strm2);
+ }
+
+ {
+ istringstream strm2(":doublesupporttime 0.2");
+ aPGI.ParseCmd(strm2);
+ }
+
{
istringstream strm2(":stepstairseq 0.0 -0.105 0.0 0.0\
- 0.3 0.19 0.05 0.0\
+ 0.25 0.19 0.05 0.0\
0.2 -0.19 0.05 0.0\
- 0.2 0.19 0.05 0.0\
+ 0.25 0.19 0.05 0.0\
0.2 -0.19 0.05 0.0\
0.2 0.19 0.0 0.0\
0.2 -0.19 -0.05 0.0\
--
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