Update swing trajectory xy and z convergence #1042
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… functions as const member functions.
…n as double type interpolation
…late function for antecedent path
…enerator.h] Add swing_trajectory_time_offset_xy2z for time between Z convergence time and XY convergence time. 0 by default, which does not change default behavior.
…offset-xy2z option for testGaitGenerator
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travis通りましたので、お手すきのときにご確認いただけますと幸いです。 |
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ありがとうございます。 |
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delay hoffarbib型のゆう脚軌道で、XYが先に収束してZが後で収束するようなオプションを追加しました。
IDLのswing_trajectory_time_offset_xy2zを0.1[s]とかが、XYがZより何秒前に収束するかの最大時間をあらわします。
デフォルトだと０[s]で、つまりXYとZが同時に収束するまでの時間が同じで、今までのものと同じになります（多分）。
final_distance_weight = 1にして、0.1[s]くらいがいいかんじのパラメータのようにみえます。
よろしくお願いします。