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Update st transition bugs #1102

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merged 2 commits into from
Mar 6, 2017
Merged

Update st transition bugs #1102

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f0efe45
[rtc/Stabilizer/Stabilizer.cpp] Wait for MODE transition regardless o…
snozawa Mar 6, 2017
22ac61a
[rtc/Stabilizer/Stabilizer.cpp] Reset prev_ref_cog for transition (MO…
snozawa Mar 6, 2017
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[rtc/Stabilizer/Stabilizer.cpp] Reset prev_ref_cog for transition (MO… 
…DE_IDLE=>MODE_ST) because the coordinates for ref_cog differs among st algorithms.
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@snozawa
snozawa committed Mar 6, 2017
commit 22ac61a1d1ebd76bc92b4c4f643bfa5931b8a8db
12 changes: 9 additions & 3 deletions rtc/Stabilizer/Stabilizer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1100,7 +1100,7 @@ void Stabilizer::getTargetParameters ()
if ( transition_count == 0 ) {
transition_smooth_gain = 1.0;
} else {
double max_transition_count = transition_time / dt;
double max_transition_count = calcMaxTransitionCount();
transition_smooth_gain = 1/(1+exp(-9.19*(((max_transition_count - std::fabs(transition_count)) / max_transition_count) - 0.5)));
}
if (transition_count > 0) {
Expand Down Expand Up @@ -1153,6 +1153,12 @@ void Stabilizer::getTargetParameters ()
}
// <= Reference world frame

// Reset prev_ref_cog for transition (MODE_IDLE=>MODE_ST) because the coordinates for ref_cog differs among st algorithms.
if (transition_count == (-1 * calcMaxTransitionCount() + 1)) { // max transition count. In MODE_IDLE => MODE_ST, transition_count is < 0 and upcounter. "+ 1" is upcount at the beginning of this function.
prev_ref_cog = ref_cog;
std::cerr << "[" << m_profile.instance_name << "] Reset prev_ref_cog for transition (MODE_IDLE=>MODE_ST)." << std::endl;
}

if (st_algorithm != OpenHRP::StabilizerService::TPCC) {
// Reference foot_origin frame =>
hrp::Vector3 foot_origin_pos;
Expand Down Expand Up @@ -1711,7 +1717,7 @@ void Stabilizer::sync_2_st ()
ikp.d_foot_pos = ikp.d_foot_rpy = ikp.ee_d_foot_rpy = hrp::Vector3::Zero();
}
if (on_ground) {
transition_count = -1 * transition_time / dt;
transition_count = -1 * calcMaxTransitionCount();
control_mode = MODE_ST;
} else {
transition_count = 0;
Expand All @@ -1723,7 +1729,7 @@ void Stabilizer::sync_2_idle ()
{
std::cerr << "[" << m_profile.instance_name << "] [" << m_qRef.tm
<< "] Sync ST => IDLE" << std::endl;
transition_count = transition_time / dt;
transition_count = calcMaxTransitionCount();
for (int i = 0; i < m_robot->numJoints(); i++ ) {
transition_joint_q[i] = m_robot->joint(i)->q;
}
Expand Down
4 changes: 4 additions & 0 deletions rtc/Stabilizer/Stabilizer.h
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Expand Up @@ -146,6 +146,10 @@ class Stabilizer
{
return (prev_act_force_z[idx] > 25.0);
};
inline int calcMaxTransitionCount ()
{
return (transition_time / dt);
};

protected:
// Configuration variable declaration
Expand Down