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jrl-umi3218 / lipm_walking_controller

Walking controller based on linear inverted pendulum tracking
BSD 2-Clause "Simplified" License
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Stabilizer Issue: Unassigned supportFoot Variable in lipm_walking_controller #50

Closed Saeed-Mansouri closed 1 year ago

Saeed-Mansouri commented 1 year ago

It appears that a portion of the stabilizer relies on the supportFoot_ variable. Nevertheless, in the lipm_walking_controller, the support foot name has not been assigned to the stabilizer. This oversight is leading to a malfunction in the stabilizer's functionality.

gergondet commented 1 year ago

Hi @Saeed-Mansouri

This was introduced in the stabilizer by https://github.com/jrl-umi3218/mc_rtc/pull/359 (with some follow up changes in https://github.com/jrl-umi3218/mc_rtc/pull/375)

The member is only used in the computeCoPonHorizon method which is called when a reference ZMP horizon is provided to the stabilizer (by calling horizonReference)

This feature is not used in lipm_walking_controller so not setting the supportFoot has no effect here