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Reflect matlab-whole-body-simulator#49 (removal of dependency from +wbc) #128

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merged 4 commits into from
May 22, 2021
Merged

Reflect matlab-whole-body-simulator#49 (removal of dependency from +wbc) #128

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347cf55
Update model iCubGazeboV2_5 configuration w.r.t. matlab-whole-body-si…
nunoguedelha May 18, 2021
9663c20
Replace 'holder' blocks in +floatingBaseBalancingTorqueControlWithSim…
nunoguedelha May 18, 2021
fde36b5
Restore measured joint torques in the signals Visualizer in 'torqueCo…
nunoguedelha May 19, 2021
258bced
Refactored handling of encoder spikes and joints limits hit
nunoguedelha May 20, 2021
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4 changes: 2 additions & 2 deletions .../+floatingBaseBalancingTorqueControlWithSimulator/app/robots/iCubGazeboV2_5/configRobot.m
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Expand Up @@ -50,8 +50,8 @@
% if TRUE, the controller will STOP if the joints hit the joints limits
% and/or if the (unsigned) difference between two consecutive joints
% encoders measurements is greater than a given threshold.
Config.EMERGENCY_STOP_WITH_JOINTS_LIMITS = false;
Config.EMERGENCY_STOP_WITH_ENCODER_SPIKES = false;
Config.EVENT_WITH_JOINTS_LIMITS = EventWithJointLimits.None;
Config.EVENT_WITH_ENCODER_SPIKES = EventWithEncoderSpikes.Warning;

% Config.USE_MOTOR_REFLECTED_INERTIA: if set to true, motors reflected
% inertias are included in the system mass matrix. If
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2 changes: 1 addition & 1 deletion ...loatingBaseBalancingTorqueControlWithSimulator/app/robots/iCubGazeboV2_5/configRobotSim.m
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Expand Up @@ -49,7 +49,7 @@
% Initial condition of iCub and for the integrators.
initialConditions.base_position = [0; 0; 0.619];
initialConditions.orientation = diag([-1, -1, 1]);
initialConditions.w_H_b = mwbs.State.Rp2H(initialConditions.orientation, initialConditions.base_position);
initialConditions.w_H_b = mwbs.Utils.Rp2H(initialConditions.orientation, initialConditions.base_position);

% joint (inital) position
initialConditions.s = [
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12 changes: 12 additions & 0 deletions controllers/+floatingBaseBalancingTorqueControlWithSimulator/src/EventWithEncoderSpikes.m
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Original file line number Diff line number Diff line change
@@ -0,0 +1,12 @@
classdef EventWithEncoderSpikes < Simulink.IntEnumType
%EVENTWITHENCODERSPIKES Class for selecting a None, Warning or EmergencyStop signal
%
% Class for selecting a None, Warning or EmergencyStop signal triggered by an encoder spike
% event.

enumeration
None(0)
Warning(1)
EmergencyStop(2)
end
end
12 changes: 12 additions & 0 deletions controllers/+floatingBaseBalancingTorqueControlWithSimulator/src/EventWithJointLimits.m
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Original file line number Diff line number Diff line change
@@ -0,0 +1,12 @@
classdef EventWithJointLimits < Simulink.IntEnumType
%EVENTWITHJOINTLIMITS Class for selecting a None, Warning or EmergencyStop signal
%
% Class for selecting a None, Warning or EmergencyStop signal triggered by the joints hitting
% the limits.

enumeration
None(0)
Warning(1)
EmergencyStop(2)
end
end
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