Commit a10d1675 authored by Olivier Stasse's avatar Olivier Stasse Committed by olivier stasse
Browse files

[ddp-actuator-solver] Fix warnings.

parent 9dcfe259
...@@ -91,7 +91,7 @@ namespace dynamicgraph ...@@ -91,7 +91,7 @@ namespace dynamicgraph
using namespace dynamicgraph; using namespace dynamicgraph;
using namespace dynamicgraph::command; using namespace dynamicgraph::command;
using namespace Eigen; using namespace Eigen;
/// Define EntityClassName here rather than in the header file /// Define EntityClassName here rather than in the header file
/// so that it can be used by the macros DEFINE_SIGNAL_**_FUNCTION. /// so that it can be used by the macros DEFINE_SIGNAL_**_FUNCTION.
typedef DdpActuatorSolver EntityClassName; typedef DdpActuatorSolver EntityClassName;
...@@ -110,13 +110,13 @@ namespace dynamicgraph ...@@ -110,13 +110,13 @@ namespace dynamicgraph
CONSTRUCT_SIGNAL_IN (tau_des, dynamicgraph::Vector), CONSTRUCT_SIGNAL_IN (tau_des, dynamicgraph::Vector),
CONSTRUCT_SIGNAL_IN (temp_measure, dynamicgraph::Vector), CONSTRUCT_SIGNAL_IN (temp_measure, dynamicgraph::Vector),
CONSTRUCT_SIGNAL_OUT(tau, dynamicgraph::Vector, m_pos_desSIN), CONSTRUCT_SIGNAL_OUT(tau, dynamicgraph::Vector, m_pos_desSIN),
m_T(3000),
m_dt(1e-3), m_dt(1e-3),
m_iterMax(100),
m_stopCrit(1e-5),
m_solver(m_model,m_cost, m_solver(m_model,m_cost,
DISABLE_FULLDDP, DISABLE_FULLDDP,
DISABLE_QPBOX) DISABLE_QPBOX),
m_T(3000),
m_stopCrit(1e-5),
m_iterMax(100)
{ {
RESETDEBUG5(); RESETDEBUG5();
Entity::signalRegistration( ALL_INPUT_SIGNALS << ALL_OUTPUT_SIGNALS ); Entity::signalRegistration( ALL_INPUT_SIGNALS << ALL_OUTPUT_SIGNALS );
...@@ -141,7 +141,7 @@ namespace dynamicgraph ...@@ -141,7 +141,7 @@ namespace dynamicgraph
/// Desired position /// Desired position
const dynamicgraph::Vector & const dynamicgraph::Vector &
pos_des = m_pos_desSIN(iter); pos_des = m_pos_desSIN(iter);
/// Measured position /// Measured position
const dynamicgraph::Vector & const dynamicgraph::Vector &
pos_joint_measure = m_pos_joint_measureSIN(iter); pos_joint_measure = m_pos_joint_measureSIN(iter);
/// Measured speed /// Measured speed
...@@ -167,7 +167,7 @@ namespace dynamicgraph ...@@ -167,7 +167,7 @@ namespace dynamicgraph
//m_ambiant_temperature; //m_ambiant_temperature;
25.0; 25.0;
xDes << m_pos_desSIN(0), 0.0, 25.0, m_tau_desSIN(0), 25.0; xDes << pos_des, 0.0, 25.0, tau_des, 25.0;
ODEBUG5(xinit); ODEBUG5(xinit);
ODEBUG5(""); ODEBUG5("");
ODEBUG5(xDes); ODEBUG5(xDes);
...@@ -226,4 +226,3 @@ namespace dynamicgraph ...@@ -226,4 +226,3 @@ namespace dynamicgraph
} // namespace torque_control } // namespace torque_control
} // namespace sot } // namespace sot
} // namespace dynamicgraph } // namespace dynamicgraph
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