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loco-3d
Multicontact-api
Commits
9f7717a2
Commit
9f7717a2
authored
Feb 05, 2020
by
Pierre Fernbach
Browse files
[C++] control trajectories are not constrained to end at the final time anymore
parent
9663d4c4
Changes
1
Hide whitespace changes
Inline
Side-by-side
include/multicontact-api/scenario/contact-sequence.hpp
View file @
9f7717a2
...
@@ -655,7 +655,7 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
...
@@ -655,7 +655,7 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
std
::
cout
<<
"joint velocity trajectory do not end at t_final for phase : "
<<
i
<<
std
::
endl
;
std
::
cout
<<
"joint velocity trajectory do not end at t_final for phase : "
<<
i
<<
std
::
endl
;
return
false
;
return
false
;
}
}
if
(
phase
.
m_ddq
->
max
()
!=
phase
.
timeFinal
())
{
if
(
(
phase
.
m_ddq
->
max
()
!=
phase
.
timeFinal
())
&&
i
<
size
()
-
1
){
// not required for the last phase
std
::
cout
<<
"joint acceleration trajectory do not end at t_final for phase : "
<<
i
<<
std
::
endl
;
std
::
cout
<<
"joint acceleration trajectory do not end at t_final for phase : "
<<
i
<<
std
::
endl
;
return
false
;
return
false
;
}
}
...
@@ -692,7 +692,7 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
...
@@ -692,7 +692,7 @@ struct ContactSequenceTpl : public serialization::Serializable<ContactSequenceTp
std
::
cout
<<
"Torque trajectory do not start at t_init for phase : "
<<
i
<<
std
::
endl
;
std
::
cout
<<
"Torque trajectory do not start at t_init for phase : "
<<
i
<<
std
::
endl
;
return
false
;
return
false
;
}
}
if
(
phase
.
m_tau
->
max
()
!=
phase
.
timeFinal
()){
if
(
(
phase
.
m_tau
->
max
()
!=
phase
.
timeFinal
())
&&
i
<
size
()
-
1
)
{
std
::
cout
<<
"Torque trajectory do not end at t_final for phase : "
<<
i
<<
std
::
endl
;
std
::
cout
<<
"Torque trajectory do not end at t_final for phase : "
<<
i
<<
std
::
endl
;
return
false
;
return
false
;
}
}
...
...
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