BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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fix bug

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This commit is contained in:
Jay-Song
2016-08-10 20:50:56 +09:00
parent db7bdb3fd3
commit 47afdecd3e
2 changed files with 4 additions and 3 deletions
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2
robotis_controller/include/robotis_controller/robotis_controller.h
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@ -93,7 +93,7 @@ private:
void initializeSyncWrite();
public:
static const int CONTROL_CYCLE_MSEC = 4; // 8 msec
static const int CONTROL_CYCLE_MSEC = 8; // 8 msec
bool DEBUG_PRINT;
Robot *robot_;

5
robotis_math/src/robotis_trajectory_calculator.cpp
View File

@ -35,7 +35,7 @@
* Author: sch
*/
#include "../include/robotis_math/robotis_trajectory_calculator.h"
#include "robotis_math/robotis_trajectory_calculator.h"
namespace robotis_framework
{
@ -508,7 +508,7 @@ bool FifthOrderPolynomialTrajectory::changeTrajectory(double final_pos, double
time_mat.resize(6,6);
time_mat << powDI(initial_time_, 5), powDI(initial_time_, 4), powDI(initial_time_, 3), powDI(initial_time_, 2), initial_time_, 1.0,
5.0*powDI(initial_time_, 4), 4.0*powDI(initial_time_, 3), 3.0*powDI(initial_time_, 2), 2.0*initial_time_, 1.0, 0.0,
20.0*powDI(initial_time_, 3), 12.0*powDI(initial_time_, 2), 6.0*initial_time_, 2.0, 0.0, 0.0;
20.0*powDI(initial_time_, 3), 12.0*powDI(initial_time_, 2), 6.0*initial_time_, 2.0, 0.0, 0.0,
powDI(final_time_, 5), powDI(final_time_, 4), powDI(final_time_, 3), powDI(final_time_, 2), final_time_, 1.0,
5.0*powDI(final_time_, 4), 4.0*powDI(final_time_, 3), 3.0*powDI(final_time_, 2), 2.0*final_time_, 1.0, 0.0,
20.0*powDI(final_time_, 3), 12.0*powDI(final_time_, 2), 6.0*final_time_, 2.0, 0.0, 0.0;
@ -529,6 +529,7 @@ bool FifthOrderPolynomialTrajectory::changeTrajectory(double final_pos, double
12.0*position_coeff_.coeff(0,1),
6.0*position_coeff_.coeff(0,2),
2.0*position_coeff_.coeff(0,3);
return true;
}