Re: [simspark-devel] Joint limit implement

[Feng X. <hen...@ma...>]

Hi Joschka,

    I will test some other parameters today to look for another solution. If failed, I will make a patch file of this solution for your convenience.

Best Regards!



Feng Xue
2008-04-16



Sent By： Joschka Boedecker
Sent At： 2008-04-16 14:53:20
Sent To： Feng Xue
CC To： Markus Rollmann; simspark-devel
Topic： Re: Joint limit implement

Hi Feng,


On Apr 15, 2008, at 10:15 PM, Feng Xue wrote:

Hi Joschka,

    I decide to do the joint limit in this way:

    First, When setting the min and max angles, add a buffer in it. Then the min and max angles that really set in ode are [min-buf, max+buf].

    Second, in hingeeffector.cpp, function Realize(..), check the required speed, if the speed will make the angle go out of the range [min, max], then the required speed will be ignored or replaced by a reasonable speed.



This sounds like a reasonable solution.


    Now, the idea will not make effect if min is -180 or max is 180. Luckily, the max abs value of all the limited angles of nao is below 120.
   
    I have test it in my machine. It seems good. Because it will violate the "kernel code" and the "generic thing", so I ask for your advice


Could you maybe post your code, or upload it somewhere for review if it is too long to include in an email? It would make it easier to examine your solution.


Thank you,
Joschka