[Stabilizer.cpp] enable to change compensation limit : omission of fk…

…anehiro#852
snozawa · Dec 26, 2015 · 2c6d540 · 2c6d540
1 parent e12ba01
commit 2c6d540
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/rtc/Stabilizer/Stabilizer.cpp b/rtc/Stabilizer/Stabilizer.cpp
@@ -906,7 +906,8 @@ void Stabilizer::getActualParameters ()
  pos_ctrl = calcDampingControl (tmp_ratio * ref_f_diff, tmp_ratio * f_diff, pos_ctrl, tmp_damping_gain, tmp_time_const);
  }
  // zctrl = vlimit(zctrl, -0.02, 0.02);
- pos_ctrl = vlimit(pos_ctrl, -0.05, 0.05);
+ // Temporarily use first pos compensation limit (stikp[0])
+ pos_ctrl = vlimit(pos_ctrl, -1 * stikp[0].eefm_pos_compensation_limit * 2, stikp[0].eefm_pos_compensation_limit * 2);
  // Convert pos_ctrl actual frame => foot origin frame
  pos_ctrl = foot_origin_rot.transpose() * pos_ctrl;
  // Divide pos_ctrl into rfoot and lfoot