Skip to content
GitLab
Projects
Groups
Snippets
/
Help
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in / Register
Toggle navigation
Menu
Open sidebar
Stack Of Tasks
sot-torque-control
Commits
714c594e
Commit
714c594e
authored
Apr 16, 2019
by
Olivier Stasse
Browse files
Fix warnings.
parent
dc525f14
Pipeline
#4103
failed with stage
in 7 minutes and 42 seconds
Changes
2
Pipelines
1
Hide whitespace changes
Inline
Side-by-side
src/inverse-dynamics-balance-controller.cpp
View file @
714c594e
...
...
@@ -178,18 +178,18 @@ namespace dynamicgraph
<< m_com_accSOUT \
<< m_com_acc_desSOUT \
<< m_base_orientationSOUT \
<< m_right_foot_posSOUT \
<< m_left_foot_posSOUT \
<< m_right_
hand
_posSOUT \
<< m_right_
foot
_posSOUT \
<< m_left_hand_posSOUT \
<< m_right_
foot_vel
SOUT \
<< m_right_
hand_pos
SOUT \
<< m_left_foot_velSOUT \
<< m_right_
hand
_velSOUT \
<< m_right_
foot
_velSOUT \
<< m_left_hand_velSOUT \
<< m_right_
foot_acc
SOUT \
<< m_right_
hand_vel
SOUT \
<< m_left_foot_accSOUT \
<< m_right_
hand
_accSOUT \
<< m_right_
foot
_accSOUT \
<< m_left_hand_accSOUT \
<< m_right_hand_accSOUT \
<< m_right_foot_acc_desSOUT \
<< m_left_foot_acc_desSOUT
...
...
@@ -300,18 +300,19 @@ namespace dynamicgraph
,
CONSTRUCT_SIGNAL_OUT
(
com_acc
,
dg
::
Vector
,
m_tau_desSOUT
)
,
CONSTRUCT_SIGNAL_OUT
(
com_acc_des
,
dg
::
Vector
,
m_tau_desSOUT
)
,
CONSTRUCT_SIGNAL_OUT
(
base_orientation
,
dg
::
Vector
,
m_tau_desSOUT
)
,
CONSTRUCT_SIGNAL_OUT
(
left_foot_pos
,
dg
::
Vector
,
m_tau_desSOUT
)
,
CONSTRUCT_SIGNAL_OUT
(
right_foot_pos
,
dg
::
Vector
,
m_tau_desSOUT
)
,
CONSTRUCT_SIGNAL_OUT
(
left_
hand
_pos
,
dg
::
Vector
,
m_tau_desSOUT
)
,
CONSTRUCT_SIGNAL_OUT
(
left_
foot
_pos
,
dg
::
Vector
,
m_tau_desSOUT
)
,
CONSTRUCT_SIGNAL_OUT
(
right_hand_pos
,
dg
::
Vector
,
m_tau_desSOUT
)
,
CONSTRUCT_SIGNAL_OUT
(
left_
foot_vel
,
dg
::
Vector
,
m_tau_desSOUT
)
,
CONSTRUCT_SIGNAL_OUT
(
left_
hand_pos
,
dg
::
Vector
,
m_tau_desSOUT
)
,
CONSTRUCT_SIGNAL_OUT
(
right_foot_vel
,
dg
::
Vector
,
m_tau_desSOUT
)
,
CONSTRUCT_SIGNAL_OUT
(
left_
hand
_vel
,
dg
::
Vector
,
m_tau_desSOUT
)
,
CONSTRUCT_SIGNAL_OUT
(
left_
foot
_vel
,
dg
::
Vector
,
m_tau_desSOUT
)
,
CONSTRUCT_SIGNAL_OUT
(
right_hand_vel
,
dg
::
Vector
,
m_tau_desSOUT
)
,
CONSTRUCT_SIGNAL_OUT
(
left_
foot_acc
,
dg
::
Vector
,
m_tau_desSOUT
)
,
CONSTRUCT_SIGNAL_OUT
(
left_
hand_vel
,
dg
::
Vector
,
m_tau_desSOUT
)
,
CONSTRUCT_SIGNAL_OUT
(
right_foot_acc
,
dg
::
Vector
,
m_tau_desSOUT
)
,
CONSTRUCT_SIGNAL_OUT
(
left_
hand
_acc
,
dg
::
Vector
,
m_tau_desSOUT
)
,
CONSTRUCT_SIGNAL_OUT
(
left_
foot
_acc
,
dg
::
Vector
,
m_tau_desSOUT
)
,
CONSTRUCT_SIGNAL_OUT
(
right_hand_acc
,
dg
::
Vector
,
m_tau_desSOUT
)
,
CONSTRUCT_SIGNAL_OUT
(
left_hand_acc
,
dg
::
Vector
,
m_tau_desSOUT
)
,
CONSTRUCT_SIGNAL_OUT
(
right_foot_acc_des
,
dg
::
Vector
,
m_tau_desSOUT
)
,
CONSTRUCT_SIGNAL_OUT
(
left_foot_acc_des
,
dg
::
Vector
,
m_tau_desSOUT
)
,
CONSTRUCT_SIGNAL_INNER
(
active_joints_checked
,
dg
::
Vector
,
m_active_jointsSIN
)
,
m_t
(
0.0
)
...
...
@@ -319,9 +320,9 @@ namespace dynamicgraph
,
m_enabled
(
false
)
,
m_firstTime
(
true
)
,
m_contactState
(
DOUBLE_SUPPORT
)
,
m_timeLast
(
0
)
,
m_rightHandState
(
TASK_RIGHT_HAND_OFF
)
,
m_leftHandState
(
TASK_LEFT_HAND_OFF
)
,
m_timeLast
(
0
)
,
m_robot_util
(
RefVoidRobotUtil
())
{
RESETDEBUG5
();
...
...
@@ -428,7 +429,7 @@ namespace dynamicgraph
m_contactState
=
RIGHT_SUPPORT
;
}
}
void
InverseDynamicsBalanceController
::
addTaskRightHand
(
/*const double& transitionTime*/
)
{
if
(
m_rightHandState
==
TASK_RIGHT_HAND_OFF
)
...
...
@@ -623,7 +624,7 @@ namespace dynamicgraph
m_taskPosture
->
Kp
(
kp_posture
);
m_taskPosture
->
Kd
(
kd_posture
);
m_invDyn
->
addMotionTask
(
*
m_taskPosture
,
m_w_posture
,
1
);
m_taskRH
=
new
TaskSE3Equality
(
"task-rh"
,
*
m_robot
,
m_robot_util
->
m_hand_util
.
m_Right_Hand_Frame_Name
);
m_taskRH
->
Kp
(
kp_hands
);
m_taskRH
->
Kd
(
kd_hands
);
...
...
@@ -926,7 +927,7 @@ namespace dynamicgraph
m_contactRF
->
setReference
(
H_rf
);
SEND_MSG
(
"Setting right foot reference to "
+
toString
(
H_rf
),
MSG_TYPE_DEBUG
);
}
else
if
(
m_timeLast
!=
static_cast
<
unsigned
int
>
(
iter
-
1
))
else
if
(
m_timeLast
!=
static_cast
<
unsigned
int
>
(
iter
-
1
))
{
SEND_MSG
(
"Last time "
+
toString
(
m_timeLast
)
+
" is not current time-1: "
+
toString
(
iter
),
MSG_TYPE_ERROR
);
if
(
m_timeLast
==
static_cast
<
unsigned
int
>
(
iter
))
...
...
@@ -1455,7 +1456,9 @@ namespace dynamicgraph
{
if
(
!
m_initSucceeded
)
{
SEND_WARNING_STREAM_MSG
(
"Cannot compute signal left_hand_vel before initialization!"
);
std
::
ostringstream
oss
(
"Cannot compute signal left_hand_vel before initialization!:"
);
oss
<<
iter
;
SEND_WARNING_STREAM_MSG
(
oss
.
str
());
return
s
;
}
pinocchio
::
Motion
v
;
...
...
@@ -1482,7 +1485,7 @@ namespace dynamicgraph
{
if
(
!
m_initSucceeded
)
{
SEND_WARNING_STREAM_MSG
(
"Cannot compute signal right_hand_vel before initialization!
"
);
SEND_WARNING_STREAM_MSG
(
"Cannot compute signal right_hand_vel before initialization!
"
+
toString
(
iter
)
);
return
s
;
}
pinocchio
::
Motion
v
;
...
...
@@ -1495,7 +1498,7 @@ namespace dynamicgraph
{
if
(
!
m_initSucceeded
)
{
SEND_WARNING_STREAM_MSG
(
"Cannot compute signal left_foot_acc before initialization!
"
);
SEND_WARNING_STREAM_MSG
(
"Cannot compute signal left_foot_acc before initialization!
"
+
toString
(
iter
)
);
return
s
;
}
m_tau_desSOUT
(
iter
);
...
...
unitTesting/test-control-manager.cpp
View file @
714c594e
...
...
@@ -29,7 +29,6 @@ namespace dyn_sot_tc = dynamicgraph::sot::torque_control;
BOOST_AUTO_TEST_CASE
(
testControlManager
)
{
RealTimeLogger
&
rtl
=
RealTimeLogger
::
instance
();
dgADD_OSTREAM_TO_RTLOG
(
std
::
cout
);
dyn_sot_tc
::
ControlManager
&
a_control_manager
=
...
...
Write
Preview
Supports
Markdown
0%
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment