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Update abc posik ggtest #1052

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merged 2 commits into from
Oct 19, 2016
Merged

Update abc posik ggtest #1052

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972a9c0
[rtc/AutoBalancer/AutoBalancer.cpp] Update default value for pos_ik_t…
snozawa Oct 19, 2016
cf95609
[rtc/AutoBalancer/testGaitGenerator.cpp, CMakeLists.txt] Add test for…
snozawa Oct 19, 2016
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2 changes: 1 addition & 1 deletion rtc/AutoBalancer/AutoBalancer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -335,7 +335,7 @@ RTC::ReturnCode_t AutoBalancer::onInitialize()
has_ik_failed = false;
is_hand_fix_mode = false;

pos_ik_thre = 0.1*1e-3; // [m]
pos_ik_thre = 0.5*1e-3; // [m]
rot_ik_thre = (1e-2)*M_PI/180.0; // [rad]
ik_error_debug_print_freq = static_cast<int>(0.2/m_dt); // once per 0.2 [s]

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1 change: 1 addition & 0 deletions rtc/AutoBalancer/CMakeLists.txt
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Expand Up @@ -34,6 +34,7 @@ add_test(testGaitGeneratorTest12 testGaitGenerator --test12 --use-gnuplot false)
add_test(testGaitGeneratorTest13 testGaitGenerator --test13 --use-gnuplot false)
add_test(testGaitGeneratorTest14 testGaitGenerator --test14 --use-gnuplot false)
add_test(testGaitGeneratorTest15 testGaitGenerator --test15 --use-gnuplot false)
#add_test(testGaitGeneratorTest16 testGaitGenerator --test16 --use-gnuplot false)

install(TARGETS ${target}
RUNTIME DESTINATION bin
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31 changes: 31 additions & 0 deletions rtc/AutoBalancer/testGaitGenerator.cpp
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Expand Up @@ -664,6 +664,34 @@ class testGaitGenerator
gen_and_plot_walk_pattern();
};

void test16 ()
{
std::cerr << "test16 : Set foot steps with param (toe heel contact)" << std::endl;
/* initialize sample footstep_list */
parse_params();
gg->clear_footstep_nodes_list();
gg->set_toe_zmp_offset_x(137*1e-3);
gg->set_heel_zmp_offset_x(-105*1e-3);
gg->set_toe_pos_offset_x(137*1e-3);
gg->set_heel_pos_offset_x(-105*1e-3);
gg->set_toe_angle(20);
gg->set_heel_angle(5);
gg->set_default_step_time(1);
gg->set_default_double_support_ratio_before(0.1);
gg->set_default_double_support_ratio_after(0.1);
gg->set_use_toe_heel_transition(true);
double ratio[7] = {0.02, 0.28, 0.2, 0.0, 0.2, 0.25, 0.05};
std::vector<double> ratio2(ratio, ratio+gg->get_NUM_TH_PHASES());
gg->set_toe_heel_phase_ratio(ratio2);
std::vector< std::vector<step_node> > fnsl;
fnsl.push_back(boost::assign::list_of(step_node("rleg", coordinates(hrp::Vector3(hrp::Vector3(0, 0, 0)+leg_pos[0])), gg->get_default_step_height()*0.5, gg->get_default_step_time()*0.5, gg->get_toe_angle()*0.5, gg->get_heel_angle()*0.5)));
fnsl.push_back(boost::assign::list_of(step_node("lleg", coordinates(hrp::Vector3(hrp::Vector3(100*1e-3, 0, 0)+leg_pos[1])), gg->get_default_step_height()*2.0, gg->get_default_step_time()*2.0, gg->get_toe_angle()*2.0, gg->get_heel_angle()*2.0)));
fnsl.push_back(boost::assign::list_of(step_node("rleg", coordinates(hrp::Vector3(hrp::Vector3(400*1e-3, 0, 0)+leg_pos[0])), gg->get_default_step_height()*0.5, gg->get_default_step_time()*0.5, gg->get_toe_angle()*0.5, gg->get_heel_angle()*0.5)));
fnsl.push_back(boost::assign::list_of(step_node("lleg", coordinates(hrp::Vector3(hrp::Vector3(400*1e-3, 0, 0)+leg_pos[1])), gg->get_default_step_height()*2.0, gg->get_default_step_time()*2.0, gg->get_toe_angle()*2.0, gg->get_heel_angle()*2.0)));
gg->set_foot_steps_list(fnsl);
gen_and_plot_walk_pattern();
};

void parse_params ()
{
for (unsigned int i = 0; i < arg_strs.size(); ++ i) {
Expand Down Expand Up @@ -778,6 +806,7 @@ void print_usage ()
std::cerr << " --test13 : Arbitrary leg switching" << std::endl;
std::cerr << " --test14 : kick walk" << std::endl;
std::cerr << " --test15 : Stair walk down" << std::endl;
std::cerr << " --test16 : Set foot steps with param (toe heel contact)" << std::endl;
};

int main(int argc, char* argv[])
Expand Down Expand Up @@ -820,6 +849,8 @@ int main(int argc, char* argv[])
tgg.test14();
} else if (std::string(argv[1]) == "--test15") {
tgg.test15();
} else if (std::string(argv[1]) == "--test16") {
tgg.test16();
} else {
print_usage();
ret = 1;
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