From 311050124655b9ec444a1fe3a8289b398027caef Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Wed, 16 Feb 2011 15:41:32 +0100
Subject: [PATCH] Compute initial value of COM and set desired value
accordingly.
---
src/dynamic_graph/sot/dynamics/humanoid_robot.py | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/src/dynamic_graph/sot/dynamics/humanoid_robot.py b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
index 88bec8a..8fba878 100755
--- a/src/dynamic_graph/sot/dynamics/humanoid_robot.py
+++ b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
@@ -172,13 +172,14 @@ class AbstractHumanoidRobot (object):
self.name + '.dynamics')
# --- center of mass ------------
+ self.dynamic.com.recompute(0)
self.featureCom = FeatureGeneric(self.name + '.feature.com')
plug(self.dynamic.com, self.featureCom.errorIN)
plug(self.dynamic.Jcom,
self.featureCom.jacobianIN)
self.featureCom.selec.value = '011'
self.featureComDes = FeatureGeneric(self.name + '.feature.ref.com')
- self.featureComDes.errorIN.value = (.0, .0, 0.)
+ self.featureComDes.errorIN.value = self.dynamic.com.value
self.featureCom.sdes.value = self.featureComDes
self.comTask = Task(self.name + '.task.com')
self.comTask.add(self.name + '.feature.com')
--
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