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Fix gg step_count_list access bug. #1159

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merged 2 commits into from
Jun 19, 2017
Merged

Fix gg step_count_list access bug. #1159

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5e22e9a
[rtc/AutoBalancer/GaitGenerator] Remove unused argument in update_ref…
snozawa Jun 19, 2017
536bddf
[rtc/AutoBalancer/GaitGenerator] Fix invalid access for step_count_li…
snozawa Jun 19, 2017
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17 changes: 11 additions & 6 deletions rtc/AutoBalancer/GaitGenerator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -204,14 +204,19 @@ namespace rats
}
};

void refzmp_generator::update_refzmp (const std::vector< std::vector<step_node> >& fnsl)
void refzmp_generator::update_refzmp ()
{
if ( 1 <= refzmp_count ) {
refzmp_count--;
} else {
refzmp_index++;
refzmp_count = one_step_count = step_count_list[refzmp_index];
thp.set_one_step_count(one_step_count);
// Check length of step_count_list and refzmp_index
// The case if !(refzmp_index <= step_count_list.size()-1) is finalizing of gait_generator.
// If finalizing, this can be neglected.
if (refzmp_index <= step_count_list.size()-1) {
refzmp_count = one_step_count = step_count_list[refzmp_index];
thp.set_one_step_count(one_step_count);
}
//std::cerr << "fs " << fs_index << "/" << fnl.size() << " rf " << refzmp_index << "/" << refzmp_cur_list.size() << " flg " << std::endl;
}
};
Expand Down Expand Up @@ -720,7 +725,7 @@ namespace rats
solved = preview_controller_ptr->update(refzmp, cog, swing_foot_zmp_offsets, rzmp, sfzos, (refzmp_exist_p || finalize_count < preview_controller_ptr->get_delay()-default_step_time/dt));
}

rg.update_refzmp(footstep_nodes_list);
rg.update_refzmp();
// { // debug
// double cart_zmp[3];
// preview_controller_ptr->get_cart_zmp(cart_zmp);
Expand Down Expand Up @@ -1118,12 +1123,12 @@ namespace rats
for (size_t i = overwrite_idx; i < queue_size - 1; i++) {
refzmp_exist_p = rg.get_current_refzmp(rzmp, sfzos, default_double_support_ratio_before, default_double_support_ratio_after, default_double_support_static_ratio_before, default_double_support_static_ratio_after);
preview_controller_ptr->set_preview_queue(rzmp, sfzos, i+1);
rg.update_refzmp(footstep_nodes_list);
rg.update_refzmp();
sfzos.clear();
}
refzmp_exist_p = rg.get_current_refzmp(rzmp, sfzos, default_double_support_ratio_before, default_double_support_ratio_after, default_double_support_static_ratio_before, default_double_support_static_ratio_after);
solved = preview_controller_ptr->update(refzmp, cog, swing_foot_zmp_offsets, rzmp, sfzos, refzmp_exist_p);
rg.update_refzmp(footstep_nodes_list);
rg.update_refzmp();
};

const std::vector<leg_type> gait_generator::calc_counter_leg_types_from_footstep_nodes(const std::vector<step_node>& fns, std::vector<std::string> _all_limbs) const {
Expand Down
2 changes: 1 addition & 1 deletion rtc/AutoBalancer/GaitGenerator.h
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Expand Up @@ -345,7 +345,7 @@ namespace rats
const std::vector<step_node>& _support_leg_steps,
const std::vector<step_node>& _swing_leg_steps);
void push_refzmp_from_footstep_nodes_for_single (const std::vector<step_node>& fns, const std::vector<step_node>& _support_leg_steps, const toe_heel_types& tht);
void update_refzmp (const std::vector< std::vector<step_node> >& fnsl);
void update_refzmp ();
// setter
void set_indices (const size_t idx) { refzmp_index = idx; };
void set_refzmp_count(const size_t _refzmp_count) { refzmp_count = _refzmp_count; };
Expand Down