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robotology-playground / WBI-Toolbox

Simulink Toolbox for rapid prototyping of Whole Body Robot Controllers
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Set base pose block: initialisation issues #110

Open DanielePucci opened 8 years ago

DanielePucci commented 8 years ago

Extreme attention must be paid when using the Set base pose block. If it is not run as first block - by defining accurately the blocks' priorities - at the first iteration users may have problems in evaluating quantities that depend on the base roto-translation. If the model represents a control action, a workaround is to use the enable block on the output signal, and wait a little amount of time before writing the command signals. Clearly, this must be dealt with some other low level policy @jeljaik @francesco-romano @traversaro @gabrielenava.

jeljaik commented 8 years ago

I will then update this in the documentation of the block.

traversaro commented 8 years ago

I don't understand. The robot position (as part of the robot state) is not taken in input to all the blocks, as in https://github.com/robotology-playground/WBI-Toolbox/issues/106 ?

DanielePucci commented 8 years ago

Not all of them. This is being addressed only recently, and we still have blocks that automatically retrieve the robot position unfortunately. That's why back in June, I and @francesco-romano decided to implement the ~Set base block~ as a workaround.