[ModelInterface] Questions about the usage of ModelInterface::syncFrom - Githubissues

ADVRHumanoids / XBotControl

XBotControl framework: XBotCore + OpenSoT + CartesI/O

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[ModelInterface] Questions about the usage of ModelInterface::syncFrom #35

Open XinyuanZhao opened 3 years ago

XinyuanZhao commented 3 years ago

Hello,

I'd like to ask about the usage of the function XBot::ModelInterface::syncFrom().

Q1: Let's take Centauro as an example. The size of Model is 48 including 6 virtual joints but the size of Robot is only 42. If I call the function like this model->syncFrom(*robot), then what will be the influence on the first 6 DoFs of Model?
Q2: Is it recommended to call this function at every control loop or at a slower frequency than the control rate?