Refactory of the swing foot planner #765
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S-Dafarra
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Nov 20, 2023
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| if (!(activeContact->pose - activeContactNewList->pose).coeffs().isZero(tolerance)) | ||
| { | ||
| log()->error("{} The pose of the contact in the new contact list is different from the " | ||
| "pose of the contact in the original contact list. Given the contact " | ||
| "lists and the time instant the contacts are active." | ||
| "Original contact: {}, new contact: {}. Error {}. Current time {}.", | ||
| logPrefix, | ||
| activeContact->pose.coeffs().transpose(), | ||
| activeContactNewList->pose.coeffs().transpose(), | ||
| (activeContactNewList->pose - activeContact->pose).coeffs().transpose(), | ||
| toMilliseconds(m_currentTrajectoryTime)); | ||
| return false; | ||
| } |
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Should we consider allowing this case when a foot ends up in a position that is different from the planned one? Or at list, can we suggest what to do instead?
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Enabling this may lead to undesired effects we didn't take into consideration. Sincerely speaking. At this stage, I don't know what we should do. Probably recreate a new SwingFootPlanner. I think we can understand this limitation as soon as we encounter this problem.
@paolo-viceconte do you have any idea on this?
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Ok sounds good, let's consider this problem postponed
…g internal references for get_next_contact get_present_contact and get_active_contact
- add Current time as output of the planner - update the logic behind the setContactList, updateSE3Traj and createSE3Traj in the planner
Co-authored-by: Stefano Dafarra <stefano.dafarra@gmail.com>
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S-Dafarra
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This PR restructured the swing foot planner to handler corners case that came out while testing DNN-MPC integration. The code has been tested on the robot.