Commit 6926974a authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Fix ddp-actuator-solver and trajecory-generators.

parent 15112f01
Pipeline #1858 passed with stage
in 21 minutes and 6 seconds
......@@ -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).
......
......@@ -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>
......
......@@ -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>
......
......@@ -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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