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robotology-legacy / WBI-Toolbox-controllers

[WARNING]: this repository is no more mantained. Please refer to https://github.com/robotology/whole-body-controllers.
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Differences between ImpedanceControl and ImpedanceControl2012b #64

Closed gabrielenava closed 7 years ago

gabrielenava commented 7 years ago

A couple of days ago, @Yeshasvitvs noted that ImpedanceControl2012b.mdl assumes the fixed link to be the left foot, and therefore it uses the transformation between left foot and the base to evaluate system's mass matrix:

screenshot from 2017-10-06 10-38-27

however, if I remember correctly, this controller is made to be used with the robot on the pole, hence the fixed link should be the base itself. That transformation should be the identity, as actually is inside ImpedanceControl.mdl:

screenshot from 2017-10-06 10-38-51

am I right? if so, I can proceed exporting ImpedanceControl.mdl and overwriting ImpedanceControl2012b.mdl

gabrielenava commented 7 years ago

conflict solved with this merge https://github.com/robotology-playground/WBI-Toolbox-controllers/commit/96fd372de2257bf603ea2a4f7dfef6581b631d85