Re: [simspark-devel] doubt about FRP

[Hedayat V. <hed...@ai...>]

Hi,
Thank you for your feedback on FRP. When the foot does not touch any 
thing, FRP should not be sensed. In my own tests (normal cases, not 
flying!), it is the case. FRP is sensed only when a foot is on the 
ground. I've not tested it, but if the agent is flying, and his feet 
doesn't touch anything (even it's own body), FRP should not be sensed.
I've checked my code again, and I think that if there is any FRP sense, 
so certainly ODE has reported at least one collision. Please check it a 
little more to see if FRP is sensed when there is no collision and let 
me know the results.
Hopefully, it should be OK. And the output you've provided could be 
really correct! As the output shows, all the applied force are from sides.

Thanks a lot,
Hedayat

/*"Yuan Xu" <xuy...@gm...>*/ wrote on 06/15/2007 08:35:08 PM:
> Hi Joschka and Hedayat,
>
> I have a doubt about Force Resistance Perceptor:
> It provides information about collision,
> however in my test, the agent receive such perception:
> (FRP (n lf) (c 0.04 0.12 -0.05)(f 12.61 10.39 0))(FRP (n rf) (c -0.48
> -0.02 -0.06)(f -11.01 17.48 0))
> while the agent is 'flying'!
> In my opinion, if the foot does not touch any other thing, the force
> should be zero or the FRP should not be sensed.
>