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Stack Of Tasks
sot-torque-control
Commits
6926974a
Commit
6926974a
authored
Oct 31, 2018
by
Olivier Stasse
Browse files
Fix ddp-actuator-solver and trajecory-generators.
parent
15112f01
Pipeline
#1858
passed with stage
in 21 minutes and 6 seconds
Changes
4
Pipelines
1
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include/sot/torque_control/ddp-actuator-solver.hh
View file @
6926974a
...
...
@@ -67,6 +67,7 @@ namespace dynamicgraph {
DdpActuatorSolver
(
const
std
::
string
&
name
);
virtual
void
display
(
std
::
ostream
&
os
)
const
;
protected:
/** Initialize the DDP.
* @param timestep Control period (in seconds).
* @param T Size of the preview window (in nb of timestep).
...
...
include/sot/torque_control/utils/trajectory-generators.hh
View file @
6926974a
...
...
@@ -35,7 +35,7 @@
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
#include
<iostream>
#include
<sot/torque_control/signal-helper.hh>
#include
<sot/torque_control/utils/vector-conversions.hh>
#include
<sot/torque_control/utils/logger.hh>
...
...
src/common.cpp
View file @
6926974a
...
...
@@ -13,6 +13,7 @@
* have received a copy of the GNU Lesser General Public License along
* with sot-torque-control. If not, see <http://www.gnu.org/licenses/>.
*/
#include
<iostream>
#include
<sot/torque_control/common.hh>
#include
<sot/core/debug.hh>
...
...
src/ddp-actuator-solver.cpp
View file @
6926974a
...
...
@@ -126,7 +126,15 @@ namespace dynamicgraph
m_iterMax
=
nbItMax
;
m_stopCrit
=
stopCriteria
;
}
void
DdpActuatorSolver
::
display
(
std
::
ostream
&
os
)
const
{
os
<<
" T: "
<<
m_T
<<
" timestep: "
<<
m_dt
<<
" nbItMax: "
<<
m_iterMax
<<
" stopCriteria: "
<<
m_stopCrit
<<
std
::
endl
;
}
}
// namespace torque_control
}
// namespace sot
}
// namespace dynamicgraph
...
...
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