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Update gaitgenerator and fix bugs #918

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merged 4 commits into from
Dec 19, 2015
Merged

Update gaitgenerator and fix bugs #918

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faa06ce
[rtc/AutoBalancer/GaitGenerator.cpp] Set toe heel time count based on…
snozawa Dec 19, 2015
d10ced0
[rtc/AutoBalancer/GaitGenerator.cpp] Enable emergencyStop for walking…
snozawa Dec 19, 2015
5b5de76
[.travis.sh] Print if rosunit_xml_result_files exists
snozawa Dec 19, 2015
9ed0ab5
[rtc/AutoBalancer/GaitGenerator.cpp,h] Add get_overwrite_check_timing
snozawa Dec 19, 2015
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3 changes: 2 additions & 1 deletion .travis.sh
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Expand Up @@ -391,7 +391,8 @@ case $TEST_PACKAGE in
# Print results of each rosunit-*.xml file
# Get rosunit*.xml file path from rostest-*.xml file by usig awk and cut.
# Files are assumed to include "xxx results are in [/home/xxx/rosunit-yy.xml]"
cat $(find ~/.ros/test_results -type f -iname "*`basename $test_file .test`.xml" -print -exec echo "=== {} ===" \; -exec cat {} \; | grep "results are in" | awk -F'results are in ' '{print $2}' | cut -d\[ -f2 | cut -d\] -f1)
rosunit_xml_result_files=$(find ~/.ros/test_results -type f -iname "*`basename $test_file .test`.xml" -print -exec echo "=== {} ===" \; -exec cat {} \; | grep "results are in" | awk -F'results are in ' '{print $2}' | cut -d\[ -f2 | cut -d\] -f1)
if [ "${rosunit_xml_result_files}" != "" ]; then cat ${rosunit_xml_result_files}; fi
travis_time_end 31
fi
done
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19 changes: 10 additions & 9 deletions rtc/AutoBalancer/GaitGenerator.cpp
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Expand Up @@ -459,6 +459,7 @@ namespace rats
}
if (footstep_index < fnsl.size()) {
one_step_count = static_cast<size_t>(fnsl[footstep_index].front().step_time/dt);
thp_ptr->set_one_step_count(one_step_count);
}
if (footstep_index + 1 < fnsl.size()) {
next_one_step_count = static_cast<size_t>(fnsl[footstep_index+1].front().step_time/dt);
Expand Down Expand Up @@ -542,7 +543,15 @@ namespace rats
}
bool 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));
/* update refzmp */
if ( lcg.get_lcg_count() == static_cast<size_t>(footstep_nodes_list[lcg.get_footstep_index()][0].step_time/dt * 0.5) - 1 ) { // Almost middle of step time
if (emergency_flg == EMERGENCY_STOP && lcg.get_footstep_index() > 0) {
leg_type cur_leg = footstep_nodes_list[lcg.get_footstep_index()].front().l_r;
overwrite_footstep_nodes_list.push_back(boost::assign::list_of(step_node(cur_leg==RLEG?LLEG:RLEG, footstep_nodes_list[lcg.get_footstep_index()-1].front().worldcoords, 0, default_step_time, 0, 0)));
overwrite_footstep_nodes_list.push_back(boost::assign::list_of(step_node(cur_leg, footstep_nodes_list[lcg.get_footstep_index()].front().worldcoords, 0, default_step_time, 0, 0)));
overwrite_footstep_nodes_list.push_back(boost::assign::list_of(step_node(cur_leg==RLEG?LLEG:RLEG, footstep_nodes_list[lcg.get_footstep_index()-1].front().worldcoords, 0, default_step_time, 0, 0)));
overwrite_refzmp_queue(overwrite_footstep_nodes_list);
overwrite_footstep_nodes_list.clear();
emergency_flg = STOPPING;
} else if ( lcg.get_lcg_count() == get_overwrite_check_timing() ) {
if (velocity_mode_flg != VEL_IDLING && lcg.get_footstep_index() > 0) {
/* Currently biped only */
std::vector< std::vector<coordinates> > cv;
Expand All @@ -565,14 +574,6 @@ namespace rats
get_overwritable_index() == overwrite_footstep_index ) {
overwrite_refzmp_queue(overwrite_footstep_nodes_list);
overwrite_footstep_nodes_list.clear();
} else if (emergency_flg == EMERGENCY_STOP && lcg.get_footstep_index() > 0) {
leg_type cur_leg = footstep_nodes_list[lcg.get_footstep_index()].front().l_r;
overwrite_footstep_nodes_list.push_back(boost::assign::list_of(step_node(cur_leg==RLEG?LLEG:RLEG, footstep_nodes_list[lcg.get_footstep_index()-1].front().worldcoords, 0, default_step_time, 0, 0)));
overwrite_footstep_nodes_list.push_back(boost::assign::list_of(step_node(cur_leg, footstep_nodes_list[lcg.get_footstep_index()].front().worldcoords, 0, default_step_time, 0, 0)));
overwrite_footstep_nodes_list.push_back(boost::assign::list_of(step_node(cur_leg==RLEG?LLEG:RLEG, footstep_nodes_list[lcg.get_footstep_index()-1].front().worldcoords, 0, default_step_time, 0, 0)));
overwrite_refzmp_queue(overwrite_footstep_nodes_list);
overwrite_footstep_nodes_list.clear();
emergency_flg = STOPPING;
}
}
rg.update_refzmp(footstep_nodes_list);
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1 change: 1 addition & 0 deletions rtc/AutoBalancer/GaitGenerator.h
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Expand Up @@ -1193,6 +1193,7 @@ namespace rats
const std::map<leg_type, std::string> get_leg_type_map () const { return leg_type_map; };
size_t get_optional_go_pos_finalize_footstep_num () const { return optional_go_pos_finalize_footstep_num; };
bool is_finalizing (const double tm) const { return ((preview_controller_ptr->get_delay()*2 - default_step_time/dt)-finalize_count) <= (tm/dt)-1; };
size_t get_overwrite_check_timing () const { return static_cast<size_t>(footstep_nodes_list[lcg.get_footstep_index()][0].step_time/dt * 0.5) - 1;}; // Almost middle of step time
void print_param (const std::string& print_str = "")
{
double stride_fwd_x, stride_y, stride_th, stride_bwd_x;
Expand Down