Check limb swing motion has been finished at the end of ConfigMotion if exitWhenLimbSwingFinished is true #10
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…if exitWhenLimbSwingFinished is true
gergondet
requested changes
Oct 19, 2023
src/states/ConfigMotionState.cpp
Outdated
Comment on lines
170
to
176
| bool limbCofingsFinshed = !ctl().limbManagerSet_->contactCommandStacked(); | ||
| if(exitWhenLimbSwingFinished_) | ||
| { | ||
| limbCofingsFinshed = limbCofingsFinshed && !ctl().limbManagerSet_->isExecutingLimbSwing(); | ||
| } | ||
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| return limbCofingsFinshed && taskConfigList_.empty() && collisionConfigList_.empty(); |
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Suggested change
| bool limbCofingsFinshed = !ctl().limbManagerSet_->contactCommandStacked(); | |
| if(exitWhenLimbSwingFinished_) | |
| { | |
| limbCofingsFinshed = limbCofingsFinshed && !ctl().limbManagerSet_->isExecutingLimbSwing(); | |
| } | |
| return limbCofingsFinshed && taskConfigList_.empty() && collisionConfigList_.empty(); | |
| return !ctl().limbManagerSet_->contactCommandStacked() && taskConfigList_.empty() && collisionConfigList_.empty() && (!exitWhenLimbSwingFinished_ || !ctl().limbManagerSet_->isExecutingLimbSwing()); |
(should look nicer after formatting)
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Thank you for review. I refactored it.
I put |
mmurooka
approved these changes
Apr 11, 2024
| { | ||
| for(const auto & limbManagerKV : *this) | ||
| { | ||
| const auto & contactCommandList = limbManagerKV.second->contactCommandList(); |
| @@ -89,6 +89,12 @@ void ConfigMotionState::start(mc_control::fsm::Controller & _ctl) | |||
| } | |||
| } | |||
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| // Set option to wait for finishing swing motion | |||
| if(config_.has("configs") && config_("configs").has("exitWhenLimbSwingFinished")) | |||
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Sorry, you don't need to change it as I wrote in the following comment.
Same as https://github.com/isri-aist/MultiContactController/pull/7/files#r1560534133
orikuma
added a commit
to orikuma/MultiContactController
that referenced
this pull request
Apr 12, 2024
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Problem:
ConfigMotionState::run()returns true when the commands stacked in managers become empty, but it does not consider the motion is executing or not. Therefore, the state can exit before the last swing motion has finished.Solution:
I added
exitWhenLimbSwingFinishedoption in configs for ConfigMotionState. If it is true,ConfigMotionState::run()returns false until all swing motions in LimbMangerSet have finished.