Commit 7ecc3c04 authored by Nicolas Van der Noot's avatar Nicolas Van der Noot

comments Philippe-Esther

parent 9cf59f6a
This diff is collapsed.
......@@ -2,7 +2,7 @@
# This can be for instance used to design visualization files for
# the GCM (ground contact model) or for the robot feet.
# It is then possible to import it in Blender (https://www.blender.org/)
# to extrude it, to add colors, and then to generate VRML (.wrl) files.
# to extrude it, to add colors, and then to generate VRML (.wrl) or OBJ (.obj) files.
# This VRML files can be used in the Robotran (http://www.robotran.be/) visualizer.
#
# This file uses stl-np: https://github.com/WoLpH/numpy-stl
......
......@@ -30,11 +30,6 @@ CtrlInputs::CtrlInputs(UserCtrl *user_ctrl, MotorCtrlIndex *ctrl_index, CtrlOpti
Qq_ref.push_back(0.0);
}
for(int i=0; i<2; i++)
{
Fz_feet[i] = 0.0;
}
for(int i=0; i<3; i++)
{
F_Rfoot[i] = 0.0;
......@@ -66,6 +61,11 @@ CtrlInputs::CtrlInputs(UserCtrl *user_ctrl, MotorCtrlIndex *ctrl_index, CtrlOpti
IMU_Orientation[i] = 0.0;
}
for(int i=0; i<NB_LEGS; i++)
{
Fz_feet[i] = 0.0;
}
for(int i=0; i<NB_LEGS; i++)
{
mean_Fz_feet[i] = 0.0;
......
......@@ -129,14 +129,14 @@ class CtrlInputs
// interface
double t; ///< time [s]
std::vector<double> q; ///< position [rad]
std::vector<double> qd; ///< volocity [rad/s]
std::vector<double> q; ///< position (joint) [rad]
std::vector<double> qd; ///< volocity (joint) [rad/s]
std::vector<double> Qq; ///< torque [Nm]
std::vector<double> q_mot; ///< position (motor) [rad]
std::vector<double> qd_mot; ///< velocity (motor) [rad/s]
std::vector<double> q_ref; ///< position references (not directly applied) [rad]
std::vector<double> Qq_ref; ///< torque references (not directly applied) [Nm]
std::vector<double> q_ref; ///< motor position references (not directly applied) [rad]
std::vector<double> Qq_ref; ///< motor torque references (not directly applied) [Nm]
double F_Rfoot[3]; ///< right foot force [N]
double F_Lfoot[3]; ///< left foot force [N]
......
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