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[contact switching] Added setPrimaryFoot method and switch with contact makes #411

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Feb 2, 2018
Merged

[contact switching] Added setPrimaryFoot method and switch with contact makes #411

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7bdf6a2
[contact switching] Added setPrimaryFoot method
Jan 31, 2018
74f3a4c
[contact switching] changed alternate switching logic considering co…
Feb 1, 2018
d113240
[contact switching] Adding documentation for setPrimaryFoot
Feb 2, 2018
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10 changes: 10 additions & 0 deletions src/estimation/include/iDynTree/Estimation/BipedFootContactClassifier.h
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Original file line number Diff line number Diff line change
Expand Up @@ -116,6 +116,16 @@ namespace iDynTree
* @param pattern switching pattern
*/
void setContactSwitchingPattern(SwitchingPattern pattern) { m_pattern = pattern; }

/**
* set primary foot
* This method was mainly intended to be called by an external process
* to set the primary foot in the initial setting, before any contact is broken.
* In case it is set to UNKNOWN_FOOT, it waits for the foot normal force measurements (checks left first and then right),
* and activates corresponding foot, handled in the detectTransitions() method.
* @param foot primary foot
*/
void setPrimaryFoot(contactFoot foot) { m_primaryFoot = foot; }

// unique pointer to contact state machine for left foot
std::unique_ptr<ContactStateMachine> m_leftFootContactClassifier;
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8 changes: 3 additions & 5 deletions src/estimation/src/BipedFootContactClassifier.cpp
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Expand Up @@ -4,7 +4,7 @@ namespace iDynTree
{

BipedFootContactClassifier::BipedFootContactClassifier(const SchmittParams& leftFootSchmittParams,
const SchmittParams& rightFootSchmittParams) : m_primaryFoot(LEFT_FOOT),
const SchmittParams& rightFootSchmittParams) : m_primaryFoot(RIGHT_FOOT),
m_leftFootContactState(true),
m_rightFootContactState(true),
m_pattern(ALTERNATE_CONTACT)
Expand Down Expand Up @@ -35,8 +35,7 @@ void BipedFootContactClassifier::detectFeetTransition()
case SwitchingPattern::ALTERNATE_CONTACT:
if (m_primaryFoot == LEFT_FOOT)
{
if ((leftFootTransition == ContactStateMachine::CONTACT_BREAK && rightFootTransition == ContactStateMachine::CONTACT_MAKE)
|| (leftFootTransition == ContactStateMachine::CONTACT_BREAK && rightFootTransition == ContactStateMachine::STABLE_ONCONTACT))
if ( rightFootTransition == ContactStateMachine::CONTACT_MAKE && m_leftFootContactState == true)
{
m_primaryFoot = RIGHT_FOOT;
}
Expand All @@ -55,8 +54,7 @@ void BipedFootContactClassifier::detectFeetTransition()
}
else if (m_primaryFoot == RIGHT_FOOT)
{
if ((rightFootTransition == ContactStateMachine::CONTACT_BREAK && leftFootTransition == ContactStateMachine::CONTACT_MAKE)
|| (rightFootTransition == ContactStateMachine::CONTACT_BREAK && leftFootTransition == ContactStateMachine::STABLE_ONCONTACT))
if ( leftFootTransition == ContactStateMachine::CONTACT_MAKE && m_rightFootContactState == true)
{
m_primaryFoot = LEFT_FOOT;
}
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