default_double_support_static_ratio

[Naoki-Hiraoka]

default_double_support_static_ratioが0以外の値をとることには対応していないですか。また、default_double_support_static_ratioに0以外の値をセットしたくなるのはどんなときですか.

hrpsys-base/rtc/AutoBalancer/GaitGenerator.cpp

Lines 1327 to 1356 in 8e725bb

	if (walking_phase == DOUBLE_BEFORE &&
	(step_num_phase == FIRST || step_num_phase == LAST)) {
	ref_zmp_traj.push_back(LinearTrajectory<hrp::Vector3>(cur_ref_zmp, cur_ref_zmp, traj_remain_count*dt));
	ref_zmp_traj.push_back(LinearTrajectory<hrp::Vector3>(cur_ref_zmp, cur_pos, (footstep_nodes_list[step_index].front().step_time * (1.0 - default_double_support_ratio_before - default_double_support_ratio_after))));
	ref_zmp_traj.push_back(LinearTrajectory<hrp::Vector3>(cur_pos, mid_pos, (footstep_nodes_list[step_index].front().step_time * default_double_support_ratio_after)));
	if (step_num_phase != LAST) ref_zmp_traj.push_back(LinearTrajectory<hrp::Vector3>(mid_pos, next_pos, (footstep_nodes_list[step_index + 1].front().step_time * default_double_support_ratio_before)));
	} else if (walking_phase == DOUBLE_BEFORE) {
	ref_zmp_traj.push_back(LinearTrajectory<hrp::Vector3>(cur_ref_zmp, next_pos, traj_remain_count*dt));
	} else if (walking_phase == DOUBLE_AFTER) {
	ref_zmp_traj.push_back(LinearTrajectory<hrp::Vector3>(cur_ref_zmp, mid_pos, traj_remain_count*dt));
	if (step_num_phase != BEFORE_LAST && step_num_phase != LAST) ref_zmp_traj.push_back(LinearTrajectory<hrp::Vector3>(mid_pos, next_pos, (footstep_nodes_list[step_index + (step_num_phase == LAST ? 0 : 1)].front().step_time * default_double_support_ratio_before) + dt));
	} else {
	ref_zmp_traj.push_back(LinearTrajectory<hrp::Vector3>(cur_ref_zmp, cur_pos, traj_remain_count*dt));
	ref_zmp_traj.push_back(LinearTrajectory<hrp::Vector3>(cur_pos, mid_pos, (footstep_nodes_list[step_index].front().step_time * default_double_support_ratio_after)));
	if (step_num_phase != BEFORE_LAST && step_num_phase != LAST) ref_zmp_traj.push_back(LinearTrajectory<hrp::Vector3>(mid_pos, next_pos, (footstep_nodes_list[step_index + (step_num_phase == LAST ? 0 : 1)].front().step_time * default_double_support_ratio_before + dt)));
	}
	}
	if (num_preview_step >= 2) {
	last_cp = next2_pos;
	bool not_last_second = (!(step_num_phase == BEFORE2_LAST && walking_phase != DOUBLE_BEFORE) &&
	!(step_num_phase == BEFORE_LAST && walking_phase == DOUBLE_BEFORE));
	if (not_last_second) calc_last_cp(last_cp, cur_step);
	ref_zmp_traj.push_back(LinearTrajectory<hrp::Vector3>(next_pos, next_pos, (footstep_nodes_list[step_index + (step_num_phase == LAST ? 0 : 1)].front().step_time * (1.0 - default_double_support_ratio_before - default_double_support_ratio_after))));
	ref_zmp_traj.push_back(LinearTrajectory<hrp::Vector3>(next_pos, mid2_pos, (footstep_nodes_list[step_index + (step_num_phase == LAST ? 0 : 1)].front().step_time * default_double_support_ratio_after)));
	if (not_last_second) ref_zmp_traj.push_back(LinearTrajectory<hrp::Vector3>(mid2_pos, next2_pos, (footstep_nodes_list[step_index + (step_num_phase == LAST ? 0 : (step_num_phase == BEFORE_LAST ? 1 : 2))].front().step_time * default_double_support_ratio_before)));
	}
	if (num_preview_step >= 3) {
	std::cerr << "num_preview_step >= 3 is not supported" << std::endl;
	solved = false;
	}

[YutaKojio]

昔からあるパラメータで僕は使いたくなることがなかったので，僕の実装では使うことを考慮していない実装になっているかもです．
https://github.com/fkanehiro/hrpsys-base/blob/master/rtc/AutoBalancer/hrpsys_AutoBalancer_GaitGenerator_memo.pptx