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Fix foot step limitation in case of offset vel is specified. Fix testing code. #1162

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Jun 22, 2017
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Fix foot step limitation in case of offset vel is specified. Fix testing code. #1162

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4 changes: 2 additions & 2 deletions rtc/AutoBalancer/GaitGenerator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1002,12 +1002,12 @@ namespace rats
dy = std::max(-1 * footstep_param.stride_y / default_step_time, std::min(footstep_param.stride_y / default_step_time, dy ));
/* inside step limitation */
if (use_inside_step_limitation) {
if (cur_vel_param.velocity_y > 0) {
if (dy > 0) {
if (std::count_if(sup_fns.begin(), sup_fns.end(), (&boost::lambda::_1->* &step_node::l_r == LLEG || &boost::lambda::_1->* &step_node::l_r == LARM)) > 0) dy *= 0.5;
} else {
if (std::count_if(sup_fns.begin(), sup_fns.end(), (&boost::lambda::_1->* &step_node::l_r == RLEG || &boost::lambda::_1->* &step_node::l_r == RARM)) > 0) dy *= 0.5;
}
if (cur_vel_param.velocity_theta > 0) {
if (dth > 0) {
if (std::count_if(sup_fns.begin(), sup_fns.end(), (&boost::lambda::_1->* &step_node::l_r == LLEG || &boost::lambda::_1->* &step_node::l_r == LARM)) > 0) dth *= 0.5;
} else {
if (std::count_if(sup_fns.begin(), sup_fns.end(), (&boost::lambda::_1->* &step_node::l_r == RLEG || &boost::lambda::_1->* &step_node::l_r == RARM)) > 0) dth *= 0.5;
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11 changes: 6 additions & 5 deletions sample/SampleRobot/samplerobot_auto_balancer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -670,16 +670,17 @@ def demoGaitGeneratorGrasplessManipMode():
gv_pose_list = [av_fwd, av_bwd, av_left, av_right, av_lturn, av_rturn]
ref_footmid_diff = [[50*1e-3,0,0],
[-50*1e-3,0,0],
[0, 0.5*50*1e-3,0], # 0.5->inside limitation
[0,-0.5*50*1e-3,0], # 0.5->inside limitation
[0,0, 0.5*10], # 0.5->inside limitation
[0,0,-0.5*10]] # 0.5->inside limitation
[0, 50*1e-3,0],
[0,-50*1e-3,0],
[0,0, 10],
[0,0,-10]]
ret=True
hcf.abc_svc.waitFootSteps()
for idx in range(len(gv_pose_list)):
pose = gv_pose_list[idx]
prev_dst_foot_midcoords=hcf.abc_svc.getFootstepParam()[1].dst_foot_midcoords
hcf.abc_svc.goVelocity(0,0,0);
yvel = -0.0001 if (idx%2==0) else 0.0001 # Iff even number test, start with rleg. Otherwise, lleg.
hcf.abc_svc.goVelocity(0,yvel,0);
hcf.seq_svc.setJointAngles(pose, 0.4)
hcf.waitInterpolation()
hcf.seq_svc.setJointAngles(pose, 1.6);hcf.waitInterpolation() # Dummy 2step
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