Commit dc1be02a authored by Noëlie Ramuzat's avatar Noëlie Ramuzat
Browse files

Fix send message

parent a695afc8
Pipeline #17328 failed with stage
in 5 minutes and 34 seconds
......@@ -532,7 +532,7 @@ void InverseDynamicsBalanceController::setControlOutputType(const std::string& t
void InverseDynamicsBalanceController::removeRightFootContact(const double& transitionTime) {
if (m_contactState == DOUBLE_SUPPORT) {
SEND_MSG("Remove right foot contact in " + toString(transitionTime) + " s", MSG_TYPE_ERROR);
SEND_MSG("Remove right foot contact in " + toString(transitionTime) + " s", MSG_TYPE_INFO);
bool res = m_invDyn->removeRigidContact(m_contactRF->name(), transitionTime);
if (!res) {
const HQPData& hqpData = m_invDyn->computeProblemData(m_t, m_q_urdf, m_v_urdf);
......@@ -552,7 +552,7 @@ void InverseDynamicsBalanceController::removeRightFootContact(const double& tran
void InverseDynamicsBalanceController::removeLeftFootContact(const double& transitionTime) {
if (m_contactState == DOUBLE_SUPPORT) {
SEND_MSG("Remove left foot contact in " + toString(transitionTime) + " s", MSG_TYPE_ERROR);
SEND_MSG("Remove left foot contact in " + toString(transitionTime) + " s", MSG_TYPE_INFO);
bool res = m_invDyn->removeRigidContact(m_contactLF->name(), transitionTime);
if (!res) {
const HQPData& hqpData = m_invDyn->computeProblemData(m_t, m_q_urdf, m_v_urdf);
......@@ -604,7 +604,7 @@ void InverseDynamicsBalanceController::addTaskLeftHand(/*const double& transitio
void InverseDynamicsBalanceController::addRightFootContact(const double& transitionTime) {
if (m_contactState == LEFT_SUPPORT) {
SEND_MSG("Add right foot contact in " + toString(transitionTime) + " s", MSG_TYPE_ERROR);
SEND_MSG("Add right foot contact in " + toString(transitionTime) + " s", MSG_TYPE_INFO);
const double& w_forces = m_w_forcesSIN.accessCopy();
pinocchio::SE3 ref;
ref = m_robot->position(m_invDyn->data(), m_robot->model().getJointId(m_robot_util->m_foot_util.m_Right_Foot_Frame_Name));
......@@ -622,7 +622,7 @@ void InverseDynamicsBalanceController::addRightFootContact(const double& transit
void InverseDynamicsBalanceController::addLeftFootContact(const double& transitionTime) {
if (m_contactState == RIGHT_SUPPORT) {
SEND_MSG("Add left foot contact in " + toString(transitionTime) + " s", MSG_TYPE_ERROR);
SEND_MSG("Add left foot contact in " + toString(transitionTime) + " s", MSG_TYPE_INFO);
const double& w_forces = m_w_forcesSIN.accessCopy();
pinocchio::SE3 ref;
ref = m_robot->position(m_invDyn->data(), m_robot->model().getJointId(m_robot_util->m_foot_util.m_Left_Foot_Frame_Name));
......
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