From 88409535175606df42e14fe059105b88924724fe Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Tue, 13 Sep 2011 12:50:31 +0200
Subject: [PATCH] Uses fast forward to correct the history
---
python/attime.py | 2 +-
python/history.py | 5 ++++-
2 files changed, 5 insertions(+), 2 deletions(-)
diff --git a/python/attime.py b/python/attime.py
index 0cd0c1e..d4492f5 100644
--- a/python/attime.py
+++ b/python/attime.py
@@ -71,6 +71,6 @@ class Calendar:
return calendarDeco
def fastForward(self,t):
- for i in range(t): self.run(i)
+ for i in range(t+1): self.run(i)
attime=Calendar()
diff --git a/python/history.py b/python/history.py
index 29657c6..a285764 100644
--- a/python/history.py
+++ b/python/history.py
@@ -23,7 +23,10 @@ class History:
t= int(t/self.freq)
print "robot.set(",self.q[t],")"
print "robot.setVelocity(",self.qdot[t],")"
- print "robot.state.time = ",t
+ print "T0 = ",t
+ print "robot.state.time = T0"
+ print "[ t.feature.position.recompute(T0) for t in taskrh,tasklh]"
+ print "attime.fastForward(T0)"
def dumpToOpenHRP(self,baseName = "dyninv",sample = 1):
filePos = open(baseName+'.pos','w')
fileRPY = open(baseName+'.hip','w')
--
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