From 1c96381cb7384b8520436f99ac4d5f551a6f32c4 Mon Sep 17 00:00:00 2001 From: Naoki-Hiraoka Date: Mon, 26 Aug 2019 16:18:58 +0900 Subject: [PATCH 1/2] [irteus-demo.l] add test-test-extended-preview-control-0-QR --- irteus/test/irteus-demo.l | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/irteus/test/irteus-demo.l b/irteus/test/irteus-demo.l index cc97aac70..4b203490e 100644 --- a/irteus/test/irteus-demo.l +++ b/irteus/test/irteus-demo.l @@ -89,6 +89,13 @@ (assert (every #'identity (test-preview-control-0 :preview-controller-class extended-preview-controller)))) +(deftest test-test-extended-preview-control-0-QR + (assert + (every #'identity (mapcar #'(lambda (x y) (and (eps= (cadr (memq :zmp x)) (cadr (memq :zmp y))) + (eps= (cadr (memq :cog x)) (cadr (memq :cog y))))) + (test-preview-control-0 :preview-controller-class extended-preview-controller :q 1 :r 1e-6) + (test-preview-control-0 :preview-controller-class extended-preview-controller :q 1e1 :r 1e-5))))) + (deftest test-test-preview-control-1 (assert (every #'identity (test-preview-control-1)))) From 11c261190c8b3cc6c1473132172ed5ff6e98e032 Mon Sep 17 00:00:00 2001 From: Naoki-Hiraoka Date: Sun, 14 Jul 2019 11:50:52 +0900 Subject: [PATCH 2/2] fix bug of extended-preview-controller --- irteus/irtdyna.l | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/irteus/irtdyna.l b/irteus/irtdyna.l index 4f5918e86..62321ea3a 100644 --- a/irteus/irtdyna.l +++ b/irteus/irtdyna.l @@ -1446,7 +1446,7 @@ (R+btPb-1bt (m* R+btPb-1 bt)) (qt (scale-matrix Q ct))) (dotimes (i delay) - (let* ((qt (if (= i (1- delay)) (m* P qt) qt)) + (let* ((qt (if (= i (1- delay)) (m* P ct) qt)) (fa (m* R+btPb-1 (m* bt (m* gsi qt))))) (setq gsi (m* A-bKt gsi)) (dotimes (ii input-dim)