Skin contacts on wbd #239
Skin contacts on wbd #239
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| it->setActiveTaxels(0); | ||
| numberOfContacts++; | ||
| } | ||
| yInfo() << "wholeBodyDynamics: numberOfContacts in contactsReadFromSkin from previous contacts = "<<numberOfContacts; |
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There are again a lot of prints that I guess need to be removed, right?
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so should I remove all of this messages that are not on the warning level?
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I will leave this part commented since it will probably come useful when we try again with Joans stuff
/*else
{
yDebug() << "wholeBodyDynamics: number of contacts in submodel "<<subModel<<" = "<<contacts_for_given_subModel[subModel];
}*/
| if( it->getActiveTaxels()<10) | ||
| { | ||
| it->fixMoment(); | ||
| yDebug() << "wholeBodyDynamics: less than 10 taxels are active then suppose zero moment"; |
| } | ||
| else | ||
| { | ||
| if(yarp::os::Time::now()-last_reading_skin_contact_list_Stamp>SKIN_EVENTS_TIMEOUT && last_reading_skin_contact_list_Stamp!=0.0) |
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Why should we remove this one?
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Sorry, I probably copy-pasted the debug print comment on this.
| { | ||
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| contactsReadFromSkin.clear(); | ||
| yInfo() << "wholeBodyDynamics: Resetting skin contact for timeout"; |
| yInfo() << "wholeBodyDynamics: Resetting skin contact for timeout"; | ||
| } | ||
|
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||
| yInfo() << "wholeBodyDynamics: Using default contact"; |
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Needs to be removed (together with all following prints).
| @@ -566,6 +566,7 @@ bool WholeBodyDynamicsDevice::loadSettingsFromConfig(os::Searchable& config) | |||
| settings.forceTorqueFilterCutoffInHz = 3.0; | |||
| settings.jointVelFilterCutoffInHz = 3.0; | |||
| settings.jointAccFilterCutoffInHz = 3.0; | |||
| useSkinContact =false; | |||
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I suggest to remove this parameter, so the skin position readings works out of the box if you just connect the ports, as it happened on the older version of wholeBodyDynamics .
| @@ -1,6 +1,8 @@ | |||
| #ifndef CODYCO_WHOLE_BODY_DYNAMICS_DEVICE_H | |||
| #define CODYCO_WHOLE_BODY_DYNAMICS_DEVICE_H | |||
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| #define SKIN_EVENTS_TIMEOUT 0.2 | |||
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You can move this define in the .cpp file.
| * Double to keep track of last time skin was read | ||
| * (to verify timeouts). | ||
| */ | ||
| double last_reading_skin_contact_list_Stamp; |
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Nitpick, but given that all attributes are using CamelCase naming, I would suggest to use CamelCase (with lower capital letter) also for this parameter.
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This is good to go. Call me when you want to merge this, so I can show you how to rebase. |
…sing the default contacts
fjandrad
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Enables the reading of the contact position using the skin.