From b643a818f29893cab153ef4a83e471bbd086d2d4 Mon Sep 17 00:00:00 2001
From: Kevin Giraud-Esclasse <kgiraude@laas.fr>
Date: Tue, 22 Nov 2016 14:34:04 +0100
Subject: [PATCH] trajectories foot going down 10 ok
---
.../FootTrajectoryGenerationStandard.cpp | 41 ++-----------------
1 file changed, 4 insertions(+), 37 deletions(-)
diff --git a/src/FootTrajectoryGeneration/FootTrajectoryGenerationStandard.cpp b/src/FootTrajectoryGeneration/FootTrajectoryGenerationStandard.cpp
index 8bf4a0de..12bc2344 100644
--- a/src/FootTrajectoryGeneration/FootTrajectoryGenerationStandard.cpp
+++ b/src/FootTrajectoryGeneration/FootTrajectoryGenerationStandard.cpp
@@ -424,43 +424,10 @@ int FootTrajectoryGenerationStandard::SetParameters(int PolynomeIndex, double Ti
}
else if (FinalPosition - InitPosition < -epsilon )
{
-// ToMP.push_back(0.6*TimeInterval);
-// MP.push_back(InitPosition+0.5*WayPoint_z);
-// m_BsplinesZ->SetParameters(TimeInterval,InitPosition,FinalPosition,ToMP,MP,InitSpeed,InitAcc);
- deque<double> knot;
- double TimeInterval = 1.4;
- for (int i=0;i<8;++i){knot.push_back(0.0);}
- double pourcentTime=0.9;
-// knot.push_back(0.01);
-// knot.push_back(0.4);
-// //knot.push_back(pourcentTime*TimeInterval);
-// knot.push_back(pourcentTime);
-// knot.push_back(0.99);
- knot.push_back(0.9);
- for (int i=0;i<8;++i){knot.push_back(1.0);}
- m_BsplinesZ->SetKnotVector(knot);
- vector<double> controlPoints;
- for (int i=0 ; i<5 ; ++i)
- {controlPoints.push_back(InitPosition);}
-// controlPoints.push_back(InitPosition+0.005);
-// controlPoints.push_back(InitPosition+0.07*0.8);
-// controlPoints.push_back(InitPosition+0.07*1.4);
-// controlPoints.push_back(FinalPosition+0.005);
- controlPoints.push_back(InitPosition+0.25);
- for (int i=0 ; i<5 ; ++i)
- {controlPoints.push_back(FinalPosition);}
-
- m_BsplinesZ->SetControlPoints(controlPoints);
-// m_BsplinesZ->FT(TimeInterval);
-// m_BsplinesZ->FP(FinalPosition);
- double IS = 0.0 ;
- double IA = 0.0 ;
- double FS = 0.0 ;
- double FA = 0.0 ;
- m_BsplinesZ->SetParametersWithoutMPAndToMP(TimeInterval,
- InitPosition,
- FinalPosition,
- IS,IA,FS,FA);
+ ToMP.push_back(0.65*TimeInterval);
+ MP.push_back(InitPosition+WayPoint_z*0.45);
+ m_BsplinesZ->SetParametersWithInitFinalPose(TimeInterval,InitPosition,FinalPosition,ToMP,MP);
+
m_BsplinesZ->GenerateDegree();
m_BsplinesZ->PrintControlPoints();
m_BsplinesZ->PrintDegree();
--
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