From 3b80d44ccf7db47c7029c2851048c8b932b389f2 Mon Sep 17 00:00:00 2001
From: mnaveau <maximilien.naveau@laas.fr>
Date: Tue, 17 May 2016 17:31:47 +0200
Subject: [PATCH] fix the use of the dynamic filter
---
.../AnalyticalMorisawaCompact.cpp | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp b/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
index b6cce480..db2e5468 100644
--- a/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
+++ b/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
@@ -610,7 +610,7 @@ computing the analytical trajectories. */
m_kajitaDynamicFilter->getComAndFootRealization()->ShiftFoot(false);
m_kajitaDynamicFilter->init( m_SamplingPeriod,
m_SamplingPeriod,
- m_PreviewControlTime-TimeShift,
+ n*m_SamplingPeriod,
m_PreviewControlTime-TimeShift+KajitaPCpreviewWindow,
KajitaPCpreviewWindow,
lStartingCOMState );
@@ -687,7 +687,7 @@ computing the analytical trajectories. */
}
// Filter the trajectory
- deque<COMState> outputDeltaCOMTraj_deq ;
+ deque<COMState> outputDeltaCOMTraj_deq (n) ;
m_kajitaDynamicFilter->OffLinefilter(
COMStates,
ZMPPositions,
@@ -698,14 +698,14 @@ computing the analytical trajectories. */
vector< MAL_VECTOR_TYPE(double) > (1,UpperAcc),
outputDeltaCOMTraj_deq);
-
+#ifdef DEBUG
m_kajitaDynamicFilter->Debug(COMStates,LeftFootAbsolutePositions,
RightFootAbsolutePositions,
COMStates,ZMPPositions,
LeftFootAbsolutePositions,
RightFootAbsolutePositions,
outputDeltaCOMTraj_deq);
-
+#endif
vector <vector<double> > filteredZMPMB (n , vector<double> (2,0.0)) ;
for (unsigned int i = 0 ; i < n ; ++i)
{
--
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