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Guilhem Saurel
tsid
Commits
7ff3f8b1
Unverified
Commit
7ff3f8b1
authored
Sep 25, 2020
by
Guilhem Saurel
Committed by
GitHub
Sep 25, 2020
Browse files
Merge pull request #108 from Rascof/patch-3
Fix warnings
parents
ed84ee1f
a85ff4dc
Changes
6
Hide whitespace changes
Inline
Side-by-side
include/tsid/tasks/task-capture-point-inequality.hpp
View file @
7ff3f8b1
...
...
@@ -81,7 +81,7 @@ namespace tsid
Vector
m_support_limits_x
;
Vector
m_support_limits_y
;
double
m_nv
;
Eigen
::
Index
m_nv
;
double
m_delta_t
;
double
m_g
;
double
m_w
;
...
...
include/tsid/tasks/task-motion.hpp
View file @
7ff3f8b1
...
...
@@ -55,6 +55,7 @@ namespace tsid
protected:
math
::
Vector
m_mask
;
math
::
Vector
m_dummy
;
trajectories
::
TrajectorySample
TrajectorySample_dummy
;
};
}
}
...
...
src/robots/robot-wrapper.cpp
View file @
7ff3f8b1
...
...
@@ -168,21 +168,21 @@ namespace tsid
const
SE3
&
RobotWrapper
::
position
(
const
Data
&
data
,
const
Model
::
JointIndex
index
)
const
{
assert
(
index
>=
0
&&
index
<
data
.
oMi
.
size
());
assert
(
index
<
data
.
oMi
.
size
());
return
data
.
oMi
[
index
];
}
const
Motion
&
RobotWrapper
::
velocity
(
const
Data
&
data
,
const
Model
::
JointIndex
index
)
const
{
assert
(
index
>=
0
&&
index
<
data
.
v
.
size
());
assert
(
index
<
data
.
v
.
size
());
return
data
.
v
[
index
];
}
const
Motion
&
RobotWrapper
::
acceleration
(
const
Data
&
data
,
const
Model
::
JointIndex
index
)
const
{
assert
(
index
>=
0
&&
index
<
data
.
a
.
size
());
assert
(
index
<
data
.
a
.
size
());
return
data
.
a
[
index
];
}
...
...
@@ -190,7 +190,7 @@ namespace tsid
const
Model
::
JointIndex
index
,
Data
::
Matrix6x
&
J
)
const
{
assert
(
index
>=
0
&&
index
<
data
.
oMi
.
size
());
assert
(
index
<
data
.
oMi
.
size
());
return
pinocchio
::
getJointJacobian
(
m_model
,
data
,
index
,
pinocchio
::
WORLD
,
J
);
}
...
...
@@ -198,14 +198,14 @@ namespace tsid
const
Model
::
JointIndex
index
,
Data
::
Matrix6x
&
J
)
const
{
assert
(
index
>=
0
&&
index
<
data
.
oMi
.
size
());
assert
(
index
<
data
.
oMi
.
size
());
return
pinocchio
::
getJointJacobian
(
m_model
,
data
,
index
,
pinocchio
::
LOCAL
,
J
);
}
SE3
RobotWrapper
::
framePosition
(
const
Data
&
data
,
const
Model
::
FrameIndex
index
)
const
{
assert
(
index
>=
0
&&
index
<
m_model
.
frames
.
size
());
assert
(
index
<
m_model
.
frames
.
size
());
const
Frame
&
f
=
m_model
.
frames
[
index
];
return
data
.
oMi
[
f
.
parent
].
act
(
f
.
placement
);
}
...
...
@@ -214,7 +214,7 @@ namespace tsid
const
Model
::
FrameIndex
index
,
SE3
&
framePosition
)
const
{
assert
(
index
>=
0
&&
index
<
m_model
.
frames
.
size
());
assert
(
index
<
m_model
.
frames
.
size
());
const
Frame
&
f
=
m_model
.
frames
[
index
];
framePosition
=
data
.
oMi
[
f
.
parent
].
act
(
f
.
placement
);
}
...
...
@@ -222,7 +222,7 @@ namespace tsid
Motion
RobotWrapper
::
frameVelocity
(
const
Data
&
data
,
const
Model
::
FrameIndex
index
)
const
{
assert
(
index
>=
0
&&
index
<
m_model
.
frames
.
size
());
assert
(
index
<
m_model
.
frames
.
size
());
const
Frame
&
f
=
m_model
.
frames
[
index
];
return
f
.
placement
.
actInv
(
data
.
v
[
f
.
parent
]);
}
...
...
@@ -231,7 +231,7 @@ namespace tsid
const
Model
::
FrameIndex
index
,
Motion
&
frameVelocity
)
const
{
assert
(
index
>=
0
&&
index
<
m_model
.
frames
.
size
());
assert
(
index
<
m_model
.
frames
.
size
());
const
Frame
&
f
=
m_model
.
frames
[
index
];
frameVelocity
=
f
.
placement
.
actInv
(
data
.
v
[
f
.
parent
]);
}
...
...
@@ -251,7 +251,7 @@ namespace tsid
Motion
RobotWrapper
::
frameAcceleration
(
const
Data
&
data
,
const
Model
::
FrameIndex
index
)
const
{
assert
(
index
>=
0
&&
index
<
m_model
.
frames
.
size
());
assert
(
index
<
m_model
.
frames
.
size
());
const
Frame
&
f
=
m_model
.
frames
[
index
];
return
f
.
placement
.
actInv
(
data
.
a
[
f
.
parent
]);
}
...
...
@@ -260,7 +260,7 @@ namespace tsid
const
Model
::
FrameIndex
index
,
Motion
&
frameAcceleration
)
const
{
assert
(
index
>=
0
&&
index
<
m_model
.
frames
.
size
());
assert
(
index
<
m_model
.
frames
.
size
());
const
Frame
&
f
=
m_model
.
frames
[
index
];
frameAcceleration
=
f
.
placement
.
actInv
(
data
.
a
[
f
.
parent
]);
}
...
...
@@ -280,7 +280,7 @@ namespace tsid
Motion
RobotWrapper
::
frameClassicAcceleration
(
const
Data
&
data
,
const
Model
::
FrameIndex
index
)
const
{
assert
(
index
>=
0
&&
index
<
m_model
.
frames
.
size
());
assert
(
index
<
m_model
.
frames
.
size
());
const
Frame
&
f
=
m_model
.
frames
[
index
];
Motion
a
=
f
.
placement
.
actInv
(
data
.
a
[
f
.
parent
]);
Motion
v
=
f
.
placement
.
actInv
(
data
.
v
[
f
.
parent
]);
...
...
@@ -292,7 +292,7 @@ namespace tsid
const
Model
::
FrameIndex
index
,
Motion
&
frameAcceleration
)
const
{
assert
(
index
>=
0
&&
index
<
m_model
.
frames
.
size
());
assert
(
index
<
m_model
.
frames
.
size
());
const
Frame
&
f
=
m_model
.
frames
[
index
];
frameAcceleration
=
f
.
placement
.
actInv
(
data
.
a
[
f
.
parent
]);
Motion
v
=
f
.
placement
.
actInv
(
data
.
v
[
f
.
parent
]);
...
...
@@ -315,7 +315,7 @@ namespace tsid
const
Model
::
FrameIndex
index
,
Data
::
Matrix6x
&
J
)
const
{
assert
(
index
>=
0
&&
index
<
m_model
.
frames
.
size
());
assert
(
index
<
m_model
.
frames
.
size
());
return
pinocchio
::
getFrameJacobian
(
m_model
,
data
,
index
,
pinocchio
::
WORLD
,
J
);
}
...
...
@@ -323,7 +323,7 @@ namespace tsid
const
Model
::
FrameIndex
index
,
Data
::
Matrix6x
&
J
)
const
{
assert
(
index
>=
0
&&
index
<
m_model
.
frames
.
size
());
assert
(
index
<
m_model
.
frames
.
size
());
return
pinocchio
::
getFrameJacobian
(
m_model
,
data
,
index
,
pinocchio
::
LOCAL
,
J
);
}
...
...
src/tasks/task-capture-point-inequality.cpp
View file @
7ff3f8b1
...
...
@@ -100,9 +100,9 @@ namespace tsid
m_safety_margin
(
1
)
=
y_margin
;
}
const
ConstraintBase
&
TaskCapturePointInequality
::
compute
(
const
double
t
,
ConstRefVector
q
,
ConstRefVector
v
,
const
ConstraintBase
&
TaskCapturePointInequality
::
compute
(
const
double
,
ConstRefVector
,
ConstRefVector
,
Data
&
data
)
{
m_robot
.
com
(
data
,
m_p_com
,
m_v_com
,
m_drift
);
...
...
src/tasks/task-motion.cpp
View file @
7ff3f8b1
...
...
@@ -40,7 +40,7 @@ namespace tsid
return
m_mask
.
size
()
>
0
;
}
const
TrajectorySample
&
TaskMotion
::
getReference
()
const
{
return
TrajectorySample
()
;
}
const
TrajectorySample
&
TaskMotion
::
getReference
()
const
{
return
TrajectorySample
_dummy
;
}
const
Vector
&
TaskMotion
::
getDesiredAcceleration
()
const
{
return
m_dummy
;
}
...
...
tests/tasks.cpp
View file @
7ff3f8b1
...
...
@@ -309,7 +309,7 @@ BOOST_AUTO_TEST_CASE ( test_task_joint_bounds )
{
robot
.
computeAllTerms
(
data
,
q
,
v
);
const
ConstraintBase
&
constraint
=
task
.
compute
(
t
,
q
,
v
,
data
);
BOOST_CHECK
(
constraint
.
rows
()
==
robot
.
nv
());
BOOST_CHECK
(
constraint
.
rows
()
==
(
Eigen
::
Index
)
robot
.
nv
());
BOOST_CHECK
(
static_cast
<
tsid
::
math
::
Index
>
(
constraint
.
cols
())
==
static_cast
<
tsid
::
math
::
Index
>
(
robot
.
nv
()));
BOOST_REQUIRE
(
isFinite
(
constraint
.
lowerBound
()));
BOOST_REQUIRE
(
isFinite
(
constraint
.
upperBound
()));
...
...
@@ -361,7 +361,7 @@ BOOST_AUTO_TEST_CASE ( test_task_joint_posVelAcc_bounds )
{
robot
.
computeAllTerms
(
data
,
q
,
v
);
const
ConstraintBase
&
constraint
=
task
.
compute
(
t
,
q
,
v
,
data
);
BOOST_CHECK
(
constraint
.
rows
()
==
robot
.
na
());
BOOST_CHECK
(
constraint
.
rows
()
==
(
Eigen
::
Index
)
robot
.
na
());
BOOST_CHECK
(
static_cast
<
tsid
::
math
::
Index
>
(
constraint
.
cols
())
==
static_cast
<
tsid
::
math
::
Index
>
(
robot
.
nv
()));
BOOST_REQUIRE
(
isFinite
(
constraint
.
lowerBound
()));
BOOST_REQUIRE
(
isFinite
(
constraint
.
upperBound
()));
...
...
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