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This PR fixes issue 59 of the Python version of the DQ Robotics #67

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merged 5 commits into from
Sep 26, 2024
Merged

This PR fixes issue 59 of the Python version of the DQ Robotics #67

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378c3f4
[DQ_KinematicController.h] Initialized some variables to match the Ma…
juanjqo Jul 31, 2024
ac023e6
[DQ_ClassicQPController.cpp] Added a default damping to match the DQ_…
juanjqo Jul 31, 2024
141cde5
[DQ_KinematicController.h] Removed from the header the initialization…
juanjqo Aug 2, 2024
cefc6d7
[DQ_KinematicController.cpp] Added the initialization of the damping …
juanjqo Aug 2, 2024
47ec69b
Revert "[DQ_KinematicController.h] Initialized some variables to matc…
juanjqo Sep 18, 2024
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15 changes: 11 additions & 4 deletions src/robot_control/DQ_ClassicQPController.cpp
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
/**
(C) Copyright 2019 DQ Robotics Developers
(C) Copyright 2019-2024 DQ Robotics Developers

This file is part of DQ Robotics.

Expand All @@ -17,7 +17,14 @@ This file is part of DQ Robotics.
along with DQ Robotics. If not, see <http://www.gnu.org/licenses/>.

Contributors:
- Murilo M. Marinho (murilomarinho@ieee.org)

1. Murilo M. Marinho (murilomarinho@ieee.org)
Responsible for the original implementation

2. Juan Jose Quiroz Omana
Fixed bug 59 (https://github.com/dqrobotics/python/issues/59)
- Initialized a default damping to match the Matlab implementation
of the class DQ_ClassicQPController.m
*/

#include <dqrobotics/robot_control/DQ_ClassicQPController.h>
Expand All @@ -28,14 +35,14 @@ namespace DQ_robotics
DQ_ClassicQPController::DQ_ClassicQPController(DQ_Kinematics* robot, DQ_QuadraticProgrammingSolver* solver):
DQ_QuadraticProgrammingController (robot,solver)
{

set_damping(1e-3); // Default damping.
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This seems to be properly following MATLAB.

https://github.com/dqrobotics/matlab/blob/74b5ffc535dd08724436713b9846fc9e54e03525/robot_control/DQ_ClassicQPController.m#L37

}

DQ_ClassicQPController::DQ_ClassicQPController(const std::shared_ptr<DQ_Kinematics> &robot,
const std::shared_ptr<DQ_QuadraticProgrammingSolver> &solver):
DQ_QuadraticProgrammingController(robot,solver)
{

set_damping(1e-3); // Default damping.
}

MatrixXd DQ_ClassicQPController::compute_objective_function_symmetric_matrix(const MatrixXd &J, const VectorXd&)
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13 changes: 7 additions & 6 deletions src/robot_control/DQ_KinematicController.cpp
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Expand Up @@ -54,15 +54,16 @@ DQ_KinematicController::DQ_KinematicController(const std::shared_ptr<DQ_Kinemati
DQ_KinematicController::DQ_KinematicController():
robot_(nullptr),
control_objective_(ControlObjective::None),
attached_primitive_(0.0),
target_primitive_(0.0),
gain_(0.0),
system_reached_stable_region_(false),
last_error_signal_(VectorXd::Zero(1)),//Todo: change this inialization to use empty vector
last_control_signal_(VectorXd::Zero(1)),//Todo: change this inialization to use empty vector
damping_(0),//Todo: change this inialization to use empty vector
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This seems to be properly matching MATLAB.

https://github.com/dqrobotics/matlab/blob/74b5ffc535dd08724436713b9846fc9e54e03525/robot_control/DQ_KinematicController.m#L83

system_reached_stable_region_(false),//Todo: change this inialization to use empty vector
last_control_signal_(VectorXd::Zero(1)),
last_error_signal_(VectorXd::Zero(1)),
stability_threshold_(0.0),
stability_counter_(0.0),
stability_counter_max_(10.0),
attached_primitive_(0.0),
target_primitive_(0.0)
stability_counter_max_(10.0)
{

}
Expand Down
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