Commit a881247a authored by florent's avatar florent
Browse files

Set projection of foot frame origin in sole center to 0.

    * src/humanoid-robot.cc.
parent ebbc659a
......@@ -521,6 +521,9 @@ void HumanoidRobot::setHumanoidProperties(const ChppHumanoidRobotShPtr& inRobot)
soleCenterInFootFrame(2) = soleCenterInLeftFootFrameZ->value();
foot->setSoleCenterInLocalFrame(soleCenterInFootFrame);
foot->setSoleSize(soleLength->value(), soleWidth->value());
vector3d vzero;
vzero(0) = vzero(1) = vzero(2) = 0.0;
foot->setProjectionCenterLocalFrameInSole(vzero);
inRobot->leftFoot(foot);
// right ankle
name = rightAnkle->value();
......@@ -537,6 +540,7 @@ void HumanoidRobot::setHumanoidProperties(const ChppHumanoidRobotShPtr& inRobot)
soleCenterInFootFrame(1) *= -1;
foot->setSoleCenterInLocalFrame(soleCenterInFootFrame);
foot->setSoleSize(soleLength->value(), soleWidth->value());
foot->setProjectionCenterLocalFrameInSole(vzero);
inRobot->rightFoot(foot);
// left wrist
......
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