From c10f3ef80728dc4d82606cd2fc88231a510527b1 Mon Sep 17 00:00:00 2001
From: Shunichi Nozawa <notheworld@gmail.com>
Date: Thu, 30 Apr 2015 08:10:31 +0900
Subject: [PATCH] Disable use_inside_joint_weight_retrieval by default in
 ImpedanceController, AutoBalancer, Stabilizer to reduce oscillation
 (https://github.com/fkanehiro/hrpsys-base/issues/516)

---
 rtc/AutoBalancer/AutoBalancer.cpp               | 2 +-
 rtc/ImpedanceController/ImpedanceController.cpp | 2 +-
 rtc/Stabilizer/Stabilizer.cpp                   | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/rtc/AutoBalancer/AutoBalancer.cpp b/rtc/AutoBalancer/AutoBalancer.cpp
index 696b9263432..3e72178f317 100644
--- a/rtc/AutoBalancer/AutoBalancer.cpp
+++ b/rtc/AutoBalancer/AutoBalancer.cpp
@@ -193,7 +193,7 @@ RTC::ReturnCode_t AutoBalancer::onInitialize()
           coil::stringTo(tmpv[j], end_effectors_str[i*prop_num+6+j].c_str());
         }
         tp.localR = Eigen::AngleAxis<double>(tmpv[3], hrp::Vector3(tmpv[0], tmpv[1], tmpv[2])).toRotationMatrix(); // rotation in VRML is represented by axis + angle
-        tp.manip = hrp::JointPathExPtr(new hrp::JointPathEx(m_robot, m_robot->link(ee_base), m_robot->link(ee_target), m_dt));
+        tp.manip = hrp::JointPathExPtr(new hrp::JointPathEx(m_robot, m_robot->link(ee_base), m_robot->link(ee_target), m_dt, false));
         // Fix for toe joint
         if (ee_name.find("leg") != std::string::npos && tp.manip->numJoints() == 7) { // leg and 7dof joint (6dof leg +1dof toe)
             std::vector<double> optw;
diff --git a/rtc/ImpedanceController/ImpedanceController.cpp b/rtc/ImpedanceController/ImpedanceController.cpp
index a753808653a..c4629978303 100644
--- a/rtc/ImpedanceController/ImpedanceController.cpp
+++ b/rtc/ImpedanceController/ImpedanceController.cpp
@@ -226,7 +226,7 @@ RTC::ReturnCode_t ImpedanceController::onInitialize()
         // 3. Check whether joint path is adequate.
         hrp::Link* target_link = m_robot->link(ee_map[ee_name].target_name);
         ImpedanceParam p;
-        p.manip = hrp::JointPathExPtr(new hrp::JointPathEx(m_robot, m_robot->link(base_name_map[ee_name]), target_link, m_dt));
+        p.manip = hrp::JointPathExPtr(new hrp::JointPathEx(m_robot, m_robot->link(base_name_map[ee_name]), target_link, m_dt, false));
         if ( ! p.manip ) {
             std::cerr << "[" << m_profile.instance_name << "]   Invalid joint path from " << base_name_map[ee_name] << " to " << target_link->name << "!! Impedance param for " << sensor_name << " cannot be added!!" << std::endl;
             continue;
diff --git a/rtc/Stabilizer/Stabilizer.cpp b/rtc/Stabilizer/Stabilizer.cpp
index e392d24d3e3..3fc8d7de7c1 100644
--- a/rtc/Stabilizer/Stabilizer.cpp
+++ b/rtc/Stabilizer/Stabilizer.cpp
@@ -209,7 +209,7 @@ RTC::ReturnCode_t Stabilizer::onInitialize()
       else if (ee_name == "lleg") ikp.sensor_name = "lfsensor";
       else ikp.sensor_name = "";
       stikp.push_back(ikp);
-      jpe_v.push_back(hrp::JointPathExPtr(new hrp::JointPathEx(m_robot, m_robot->link(ee_base), m_robot->link(ee_target), dt)));
+      jpe_v.push_back(hrp::JointPathExPtr(new hrp::JointPathEx(m_robot, m_robot->link(ee_base), m_robot->link(ee_target), dt, false)));
       // Fix for toe joint
       if (ee_name.find("leg") != std::string::npos && jpe_v.back()->numJoints() == 7) { // leg and has 7dof joint (6dof leg +1dof toe)
           std::vector<double> optw;