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[Stabilizer] Set detection time whether robot is in air #1090

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Mar 13, 2017
Merged

[Stabilizer] Set detection time whether robot is in air #1090

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08713d9
[Stabilizer] Set detection time whether robot is in air
Jan 5, 2017
b9739bb
[Stabilizer] Set default detection time whether robot is in air to zero
Mar 10, 2017
7e41043
[Stabilizer] Rename variables
Mar 10, 2017
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2 changes: 2 additions & 0 deletions idl/StabilizerService.idl
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Original file line number Diff line number Diff line change
Expand Up @@ -227,6 +227,8 @@ module OpenHRP
DblArray2 limb_stretch_avoidance_vlimit;
/// Sequence of limb length margin from max limb length [m]
sequence<double> limb_length_margin;
/// Detection time whether is in air [s]
double detection_time_to_air;
};

/**
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10 changes: 9 additions & 1 deletion rtc/Stabilizer/Stabilizer.cpp
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Expand Up @@ -397,6 +397,7 @@ RTC::ReturnCode_t Stabilizer::onInitialize()
limb_stretch_avoidance_time_const = 1.5;
limb_stretch_avoidance_vlimit[0] = -100 * 1e-3 * dt; // lower limit
limb_stretch_avoidance_vlimit[1] = 50 * 1e-3 * dt; // upper limit
detection_count_to_air = static_cast<int>(0.0 / dt);

// parameters for RUNST
double ke = 0, tc = 0;
Expand Down Expand Up @@ -431,6 +432,7 @@ RTC::ReturnCode_t Stabilizer::onInitialize()
transition_count = 0;
loop = 0;
m_is_falling_counter = 0;
is_air_counter = 0;
total_mass = m_robot->totalMass();
ref_zmp_aux = hrp::Vector3::Zero();
m_actContactStates.data.length(m_contactStates.data.length());
Expand Down Expand Up @@ -617,7 +619,10 @@ RTC::ReturnCode_t Stabilizer::onExecute(RTC::UniqueId ec_id)
} else {
calcTPCC();
}
if ( transition_count == 0 && !on_ground ) control_mode = MODE_SYNC_TO_AIR;
if ( transition_count == 0 && !on_ground ) {
if (is_air_counter < detection_count_to_air) ++is_air_counter;
else control_mode = MODE_SYNC_TO_AIR;
} else is_air_counter = 0;
break;
case MODE_SYNC_TO_IDLE:
sync_2_idle();
Expand Down Expand Up @@ -1913,6 +1918,7 @@ void Stabilizer::getParameter(OpenHRP::StabilizerService::stParam& i_stp)
i_stp.use_limb_stretch_avoidance = use_limb_stretch_avoidance;
i_stp.limb_stretch_avoidance_time_const = limb_stretch_avoidance_time_const;
i_stp.limb_length_margin.length(stikp.size());
i_stp.detection_time_to_air = detection_count_to_air * dt;
for (size_t i = 0; i < 2; i++) {
i_stp.limb_stretch_avoidance_vlimit[i] = limb_stretch_avoidance_vlimit[i];
}
Expand Down Expand Up @@ -2089,6 +2095,7 @@ void Stabilizer::setParameter(const OpenHRP::StabilizerService::stParam& i_stp)
for (size_t i = 0; i < 2; i++) {
limb_stretch_avoidance_vlimit[i] = i_stp.limb_stretch_avoidance_vlimit[i];
}
detection_count_to_air = static_cast<int>(i_stp.detection_time_to_air / dt);
if (control_mode == MODE_IDLE) {
for (size_t i = 0; i < i_stp.end_effector_list.length(); i++) {
std::vector<STIKParam>::iterator it = std::find_if(stikp.begin(), stikp.end(), (&boost::lambda::_1->* &std::vector<STIKParam>::value_type::ee_name == std::string(i_stp.end_effector_list[i].leg)));
Expand Down Expand Up @@ -2168,6 +2175,7 @@ void Stabilizer::setParameter(const OpenHRP::StabilizerService::stParam& i_stp)
std::cerr << "[" << m_profile.instance_name << "] cp_check_margin = [" << cp_check_margin[0] << ", " << cp_check_margin[1] << ", " << cp_check_margin[2] << ", " << cp_check_margin[3] << "] [m]" << std::endl;
std::cerr << "[" << m_profile.instance_name << "] tilt_margin = [" << tilt_margin[0] << ", " << tilt_margin[1] << "] [rad]" << std::endl;
std::cerr << "[" << m_profile.instance_name << "] contact_decision_threshold = " << contact_decision_threshold << "[N]" << std::endl;
std::cerr << "[" << m_profile.instance_name << "] detection_time_to_air = " << detection_count_to_air * dt << "[s]" << std::endl;
// IK limb parameters
std::cerr << "[" << m_profile.instance_name << "] IK limb parameters" << std::endl;
bool is_ik_limb_parameter_valid_length = true;
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1 change: 1 addition & 0 deletions rtc/Stabilizer/Stabilizer.h
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Expand Up @@ -288,6 +288,7 @@ class Stabilizer
int transition_count, loop;
int m_is_falling_counter;
std::vector<int> m_will_fall_counter;
int is_air_counter, detection_count_to_air;
bool is_legged_robot, on_ground, is_emergency, is_seq_interpolating, reset_emergency_flag, eefm_use_force_difference_control, eefm_use_swing_damping, initial_cp_too_large_error, use_limb_stretch_avoidance;
bool is_walking, is_estop_while_walking;
hrp::Vector3 current_root_p, target_root_p;
Expand Down