From a2b858e45030b145ad6c91038d1d95e34d39bc30 Mon Sep 17 00:00:00 2001
From: odri <odri@furano.laas.fr>
Date: Wed, 25 Aug 2021 16:26:16 +0200
Subject: [PATCH] Start convergence analysis in the middle of a stance phase
and with offset to the nominal state
---
scripts/test_convergence_mpc.py | 11 ++++++-----
1 file changed, 6 insertions(+), 5 deletions(-)
diff --git a/scripts/test_convergence_mpc.py b/scripts/test_convergence_mpc.py
index 73fb1de2..437acb5d 100644
--- a/scripts/test_convergence_mpc.py
+++ b/scripts/test_convergence_mpc.py
@@ -19,13 +19,13 @@ def test_1():
# Velocity of base in horizontal frame
h_v = np.zeros((18, 1))
- h_v[0, 0] = 0.1
- h_v[1, 0] = 0.1
+ # h_v[0, 0] = 0.1
+ # h_v[1, 0] = 0.1
# h_v[1, 0] = 0.1
# Velocity reference of base in horizontal frame
v_ref = np.zeros((18, 1))
- v_ref[0, 0] = 0.1
+ # v_ref[0, 0] = 0.1
# Params
params = lqrw.Params() # Object that holds all controller parameters
@@ -55,8 +55,9 @@ def test_1():
mpc_wrapper_croco = MPC_Wrapper.MPC_Wrapper(params, q)
# Update gait
- gait.updateGait(0, 20, 0)
- cgait = gait.getCurrentGait()
+ for i in range(5):
+ gait.updateGait(i*20, 20, 0)
+ cgait = gait.getCurrentGait()
# Compute target footstep based on current and reference velocities
footstepPlanner.updateFootsteps(False, 20, q[:, 0:1], h_v[0:6, 0:1].copy(), v_ref[0:6, 0])
--
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