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robotology / unicycle-footstep-planner

Repository for the Unicycle-based FootStep Planner.
BSD 3-Clause "New" or "Revised" License
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Feature/get internal dcm state #34

Closed MiladShafiee closed 4 years ago

MiladShafiee commented 4 years ago

We open this pull request for adding the feature of feeding some desired values(DCMSubTrajectories) from unicycle planner to step adjustment.

S-Dafarra commented 4 years ago

Some files were marked as modified because of some whitespaces. I removed them.

MiladShafiee commented 4 years ago

Please @MiladShafiee try to understand why (in devel is not failing).

I'm just wondering why when I run this test in Debug mode it fails, however, when I run it in the Release mode it runs without error!

S-Dafarra commented 4 years ago

This may be due to some assert that disappear when compiling in Release mode.

MiladShafiee commented 4 years ago

The DcmInterpolationTest is failing with the message

First run: start time 0 seconds [DCMTrajectoryGeneratorHelper::evaluateDCMTrajectory] Error when the position of the ZMP is evaluated. [DCMTrajectoryGeneratorHelper::generateDCMTrajectory] Error when the whole DCM trajectory is evaluated. [DCMTrajectoryGenerator::interpolateDCM] Failed while computing the DCM trajectories. [UnicycleGenerator::generate] Failed while computing new DCM trajectories. :-1 : assertTrue failure

Please @MiladShafiee try to understand why (in devel is not failing).

The bug has been removed and I think now the test works properly. I think we can merge it.

S-Dafarra commented 4 years ago

Thanks @MiladShafiee!