try to extend the number of limbs for gait #730

eisoku9618 · 2015-07-22T02:46:35Z

AutoBalancerに与えるfootstepに腕も与えられるように追加しようとしています．

例えば

RLEG -> LLEG -> RLEG -> ...

を

{RLEG, LARM} -> {LLEG, RARM} -> {RLEG, LARM} -> ...

などに拡張できるようにしようとしていて，その第一歩として，時系列のフットステップのリストをフットステップのリストのリストにしたので一旦コミットさせていただきます．

※ APIは変えておらず，現状の二足歩行のテストプログラム(testGaitGenerator.cpp / test-samplerobot-abc.py)が動くことを確認しました．

…td::vector<step_node> > footstep_node_list_list" for N leg walk

k-okada · 2015-07-22T02:58:43Z

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Test FAILed.

snozawa · 2015-07-22T04:53:27Z

命名則なのですが、おなじ"list"でも

同じ時刻のもので、複数あるもの
複数形にする？(footstep_nodes, ...)
時系列でlistになってるもの
_listをつける？（footstep_nodes_list...)

はいかがでしょうか。(xx_list_listでなくて）

例えば
footstep_node (or step_node) : ある時刻の右足の着地位置姿勢
footstep_nodes : ある時刻の右足・左手など全遊脚の着地位置姿勢
footstep_nodes_list : 時系列分つらなったもの

swing_leg_src_coords : ある時刻のswingの開始位置姿勢（実はもともと複数形だった）
swing_leg_src_coords_list : 時系列分つらなったもの

などです。
いかがでしょうか。

k-okada · 2015-07-22T05:01:39Z

/tmp/hrpsys-source-730-2015-07-22/src/hrpsys-base-730/rtc/AutoBalancer/GaitGenerator.h:9:47: error: boost/range/algorithm_ext/erase.hpp: No such file or directory
In file included from /tmp/hrpsys-source-730-2015-07-22/src/hrpsys-base-730/rtc/AutoBalancer/AutoBalancer.h:23,
                 from /tmp/hrpsys-source-730-2015-07-22/src/hrpsys-base-730/rtc/AutoBalancer/AutoBalancer.cpp:14:

Erase may too new for old systems

… rule

k-okada · 2015-07-23T20:02:26Z

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[...truncated 7284 lines...]
    at org.jenkinsci.plugins.ghprb.GhprbRepository.createCommitStatus(GhprbRepository.java:122)
    at org.jenkinsci.plugins.ghprb.GhprbBuilds.onCompleted(GhprbBuilds.java:118)
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Test FAILed.

k-okada · 2015-07-23T20:13:56Z

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[...truncated 6311 lines...]
    at org.jenkinsci.plugins.ghprb.GhprbRepository.createCommitStatus(GhprbRepository.java:122)
    at org.jenkinsci.plugins.ghprb.GhprbBuilds.onCompleted(GhprbBuilds.java:118)
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Test FAILed.

k-okada · 2015-07-23T20:25:24Z

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[...truncated 6311 lines...]
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    at hudson.model.Run.execute(Run.java:1786)
    at hudson.model.FreeStyleBuild.run(FreeStyleBuild.java:43)
    at hudson.model.ResourceController.execute(ResourceController.java:98)
    at hudson.model.Executor.run(Executor.java:381)

Test FAILed.

eisoku9618 · 2015-07-23T20:27:33Z

using namespaceを.hにかくと強制的に他のファイルもusing namespaceされて、影響され得ます。

勉強になりました．ありがとうございます．

命名則なのですが

こちらもありがとうございます．この案で変数名を統一させていただきました．
ただ

swing_leg_src_coords : ある時刻のswingの開始位置姿勢（実はもともと複数形だった）

に関しては

swing_leg_src_coords : ある時刻のあるswing legの開始位置姿勢
swing_legs_src_coords : ある時刻のswing legたちの開始位置姿勢
swing_legs_src_coords_list : 時系列分つらなったもの

みたいな感じになるようにしてみました．
（座標（＝coords）が複数ある時の良さげな言い回しが見つからず．．．）

…tems

eisoku9618 · 2015-07-23T21:00:29Z

Erase may too new for old systems

ありがとうございます．
boost::remove_erase_if()を使わずにRemove-Eraseイディオムを使うようにして見ました．

http://faithandbrave.hateblo.jp/entry/20111020/1319093073

k-okada · 2015-07-23T21:04:52Z

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    at org.jenkinsci.plugins.ghprb.GhprbRepository.createCommitStatus(GhprbRepository.java:122)
    at org.jenkinsci.plugins.ghprb.GhprbBuilds.onCompleted(GhprbBuilds.java:118)
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    at org.jenkinsci.plugins.ghprb.GhprbBuildListener.onCompleted(GhprbBuildListener.java:12)
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    at hudson.model.Run.execute(Run.java:1786)
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    at hudson.model.ResourceController.execute(ResourceController.java:98)
    at hudson.model.Executor.run(Executor.java:381)

Test FAILed.

try to extend the number of limbs for gait

…idcoords from std::vector<coordinates> to coordinates because we need the reference coordinates

eisoku9618 added 3 commits July 22, 2015 11:25

fix return type

b28f0bf

replace hard-cording value "2" to leg_names.size() or leg_pos.size()

ca1cb0b

extend "std::vector<step_node> footstep_node_list" to "std::vector< s…

9415115

…td::vector<step_node> > footstep_node_list_list" for N leg walk

eisoku9618 force-pushed the add-arms-for-pr branch from 435c1aa to 95d6bea Compare July 23, 2015 19:53

I will squash this commit: Update variable names following the naming…

96d40c6

… rule

eisoku9618 force-pushed the add-arms-for-pr branch from 95d6bea to 96d40c6 Compare July 23, 2015 19:56

eisoku9618 added 2 commits July 24, 2015 05:30

remove undefined function

9d4f8e5

do not use boost::remove_erase_if() because it is too new for old sys…

e41b87d

…tems

fkanehiro added a commit that referenced this pull request Jul 24, 2015

Merge pull request #730 from eisoku9618/add-arms-for-pr

5040771

try to extend the number of limbs for gait

fkanehiro merged commit 5040771 into fkanehiro:master Jul 24, 2015

eisoku9618 deleted the add-arms-for-pr branch July 25, 2015 10:24

eisoku9618 mentioned this pull request Jul 26, 2015

Update 3 #742

Merged

eisoku9618 mentioned this pull request Aug 6, 2015

count_if.hppがboostバージョン1.34にない #751

Closed

eisoku9618 referenced this pull request in eisoku9618/hrpsys-base Aug 13, 2015

[AutoBalancer.cpp, GaitGenerator.h] fix return type of get_dst_foot_m…

6bf045b

…idcoords from std::vector<coordinates> to coordinates because we need the reference coordinates

eisoku9618 mentioned this pull request Aug 15, 2015

Update 10 : support multi legs gait-generator from foot steps list #759

Merged

eisoku9618 mentioned this pull request Aug 24, 2015

Update 11 : add interface of set footstep #767

Merged

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try to extend the number of limbs for gait #730

try to extend the number of limbs for gait #730

eisoku9618 commented Jul 22, 2015

k-okada commented Jul 22, 2015

snozawa commented Jul 22, 2015

k-okada commented Jul 22, 2015

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k-okada commented Jul 23, 2015

try to extend the number of limbs for gait #730

try to extend the number of limbs for gait #730

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eisoku9618 commented Jul 22, 2015

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