Use IKLimbParameters instead of each sequence paraemters for IK of AutoBalancer and Stabilizer. #944
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…er/AutoBalancer.cpp,rtc/Stabilizer/Stabilizer.cpp] Use IKLimbParameters instead of each sequence paraemters for IK of AutoBalancer and Stabilizer.
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こちらtravis通りましたのでご確認いただけますと助かります。 |
fkanehiro
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Jan 14, 2016
Use IKLimbParameters instead of each sequence paraemters for IK of AutoBalancer and Stabilizer.
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AutoBalancer, StabilzierのIKパラメータを設定している部分を修正しました．
各パラメータをlimbごとにsequenceとしていたのを，すべてのlimbパラメータがまとまったstructを用意してそのsequenceとしました．
整理の目的ですが，これでdownstream（でこれから報告します）のrosbridgeでパラメータがうまくせっとできない問題も回避されます．
よろしくお願いします．