From 9fd2003ab10366ecebba3873b82655da66aa2108 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Fri, 28 Jan 2011 17:51:22 +0100
Subject: [PATCH] Revert "Added a signal for the dyn drift."
This reverts commit 1716ac2969003a1b49b11a21ddff10c263cb8f98.
---
include/sot-dynamic/dynamic.h | 2 --
src/dynamic.cpp | 24 +++---------------------
2 files changed, 3 insertions(+), 23 deletions(-)
diff --git a/include/sot-dynamic/dynamic.h b/include/sot-dynamic/dynamic.h
index c8ed58d..a0dd0ca 100644
--- a/include/sot-dynamic/dynamic.h
+++ b/include/sot-dynamic/dynamic.h
@@ -213,7 +213,6 @@ class SOTDYNAMIC_EXPORT Dynamic
dg::SignalTimeDependent<ml::Matrix,int> inertiaRealSOUT;
dg::SignalTimeDependent<ml::Vector,int> MomentaSOUT;
dg::SignalTimeDependent<ml::Vector,int> AngularMomentumSOUT;
- dg::SignalTimeDependent<ml::Vector,int> dynamicDriftSOUT;
protected:
ml::Vector& computeZmp( ml::Vector& res,int time );
@@ -234,7 +233,6 @@ class SOTDYNAMIC_EXPORT Dynamic
ml::Vector& getUpperJointLimits( ml::Vector& res,const int& time );
ml::Vector& getLowerJointLimits( ml::Vector& res,const int& time );
- ml::Vector& computeTorqueDrift( ml::Vector& res,const int& time );
public: /* --- PARAMS --- */
virtual void commandLine( const std::string& cmdLine,
diff --git a/src/dynamic.cpp b/src/dynamic.cpp
index 91b94a0..1eff557 100644
--- a/src/dynamic.cpp
+++ b/src/dynamic.cpp
@@ -134,9 +134,6 @@ Dynamic( const std::string & name, bool build )
,AngularMomentumSOUT( boost::bind(&Dynamic::computeAngularMomentum,this,_1,_2),
newtonEulerSINTERN,
"sotDynamic("+name+")::output(vector)::angularmomentum" )
- ,dynamicDriftSOUT( boost::bind(&Dynamic::computeTorqueDrift,this,_1,_2),
- newtonEulerSINTERN,
- "sotDynamic("+name+")::output(vector)::dynamicDrift" )
{
sotDEBUGIN(5);
@@ -149,9 +146,9 @@ Dynamic( const std::string & name, bool build )
<<jointVelocitySIN<<freeFlyerVelocitySIN
<<jointAccelerationSIN<<freeFlyerAccelerationSIN);
signalRegistration( zmpSOUT<<comSOUT<<JcomSOUT<<footHeightSOUT);
- signalRegistration(upperJlSOUT<<lowerJlSOUT<<inertiaSOUT
- <<inertiaRealSOUT << inertiaRotorSOUT << gearRatioSOUT );
- signalRegistration( MomentaSOUT << AngularMomentumSOUT << dynamicDriftSOUT);
+ signalRegistration(upperJlSOUT<<lowerJlSOUT<<inertiaSOUT
+ <<inertiaRealSOUT << inertiaRotorSOUT << gearRatioSOUT );
+ signalRegistration( MomentaSOUT << AngularMomentumSOUT );
//
// Commands
@@ -1216,21 +1213,6 @@ getLowerJointLimits(ml::Vector& res, const int&)
return res;
}
-ml::Vector& Dynamic::
-computeTorqueDrift( ml::Vector& tauDrift,const int & iter )
-{
- sotDEBUGIN(25);
- newtonEulerSINTERN(iter);
- const unsigned int NB_JOINTS = jointPositionSIN.accessCopy().size();
-
- tauDrift.resize(NB_JOINTS);
- const vectorN& Torques = m_HDR->currentJointTorques();
- for( unsigned int i=0;i<NB_JOINTS; ++i ) tauDrift(i) = Torques(i);
-
- sotDEBUGOUT(25);
- return tauDrift;
-}
-
/* --- COMMANDS ------------------------------------------------------------- */
/* --- COMMANDS ------------------------------------------------------------- */
/* --- COMMANDS ------------------------------------------------------------- */
--
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