comments Philippe-Esther

animationR/python/gen_mesh.py

@@ -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

userFiles/ctrl/io/interface/CtrlInputs.cc

@@ -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;

userFiles/ctrl/io/interface/CtrlInputs.hh

@@ -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]