search

jrl-umi3218 / mc_rtc

mc_rtc is an interface for simulated and real robotic systems suitable for real-time control
BSD 2-Clause "Simplified" License
122 stars 37 forks source link

[mc_tasks] set cutoff period of low-pass filter again when dt is updated #230

Closed mmurooka closed 2 years ago

mmurooka commented 2 years ago

If the controller dt is less than the default dt (= 0.005), a patch of this PR is needed to set the cutoff period of low-pass filter correctly.

This is because https://github.com/mmurooka/mc_rtc/blob/4e6364427f90841d34db56675d2fe28650a561d5/src/mc_tasks/ImpedanceTask.cpp#L178 is called before https://github.com/mmurooka/mc_rtc/blob/4e6364427f90841d34db56675d2fe28650a561d5/src/mc_tasks/ImpedanceTask.cpp#L189

Since the low-pass filter requires cutoffPeriod > 2 * dt, the cutoffPeriod will be overwritten based on the dt before the update. https://github.com/jrl-umi3218/mc_rtc/blob/a9a8dde1cf00f4e22a5a4090b5e333e77915e725/include/mc_filter/LowPass.h#L51-L55