Fix calc static balance point #541
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mmurooka
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mmurooka
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Please fix the method document
https://github.com/euslisp/jskeus/pull/541/files#diff-80b7b3bf7c65ce7da90574530d5cd5b1R1020
so that we can know these forces and moments are robot receiving forces and moments.
irteus/test/test-irt-motion.l
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| (concatenate float-vector | ||
| (mapcan #'(lambda (f m) (concatenate cons f m)) | ||
| force-list moment-list) | ||
| (v- (scale (* 1e-6 (send *robot* :weight)) *g-vec*)) #F(0 0 0) |
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*robot* -> robot. Also the next line.
| (and result | ||
| (> centroid-thre (distance (apply #'midpoint 0.5 (send robot :legs :end-coords :worldpos)) | ||
| (send robot :calc-static-balance-point :force-list force-list :moment-list moment-list))) | ||
| (> 1.0 |
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Please add a comment about the meaning of this condition checking.
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I follow this code, and now understand this condition check and think this is OK. (But still add comment please.)
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Thank you for reviewing. |
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OK, and rebase into one commit and force push, please. |
…atic-balance-point. add a test related to this.
Naoki-Hiraoka
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force pushed. |
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Thanks, approved. |
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@Naoki-Hiraoka can we create documents with examples ? https://jskeus.readthedocs.io/ja/latest/irtmodel.html#inverse-kinematicstarget-coords |
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I tried adding documents in #549 . Should I update https://github.com/jsk-ros-pkg/euslisp-docs? |
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Thank you
Should I update https://github.com/jsk-ros-pkg/euslisp-docs?
No you do not have to.
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◉ Kei Okada
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3 participants
#540
:calc-static-balance-pointの引数について、
マニュアルでは
となっていますが、
現在の実装では
force-list: ロボットが受ける力 [N]
moment-list: ロボットが与えるモーメント [Nmm]
となっています。
:calc-static-balance-pointの引数が
force-list: ロボットが受ける力 [N]
moment-list: ロボットが受けるモーメント [Nm]
となるように変更し、テストを追加しました。