From 96a6b567827fa3e9d317f3304ffa83d2e0bb4eb7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A0ndez=20Juan?= <shernand@iri.upc.edu>
Date: Tue, 29 Aug 2017 21:00:45 +0200
Subject: [PATCH] Minor changes to execute the algorithm to go downstairs.
---
stairs_client/cfg/StairsClient.cfg | 3 ++-
stairs_client/src/stairs_client_alg_node.cpp | 9 +++++++--
2 files changed, 9 insertions(+), 3 deletions(-)
diff --git a/stairs_client/cfg/StairsClient.cfg b/stairs_client/cfg/StairsClient.cfg
index fcf8a7d..17dd0dd 100755
--- a/stairs_client/cfg/StairsClient.cfg
+++ b/stairs_client/cfg/StairsClient.cfg
@@ -64,7 +64,8 @@ gen.add("A_SHIFT", double_t, 0, "
gen.add("Y_SPREAD", double_t, 0, "Leg separation when advancing", 0.02, 0.01, 0.1)
gen.add("X_SHIFT_BODY", double_t, 0, "Whole body advance when shifting weight",0.035,0.01,0.1)
gen.add("load_config", bool_t, 0, "Load current parameters", False)
-gen.add("start_climbing", bool_t, 0, "Start climbing stairs", False)
+gen.add("start_upstairs", bool_t, 0, "Start up stairs", False)
+gen.add("start_downstairs", bool_t, 0, "Start down stairs", False)
gen.add("stop_climbing", bool_t, 0, "Stop climbing stairs", False)
exit(gen.generate(PACKAGE, "StairsClient", "StairsClient"))
diff --git a/stairs_client/src/stairs_client_alg_node.cpp b/stairs_client/src/stairs_client_alg_node.cpp
index 3ed9cd6..55fd270 100644
--- a/stairs_client/src/stairs_client_alg_node.cpp
+++ b/stairs_client/src/stairs_client_alg_node.cpp
@@ -80,10 +80,15 @@ void StairsClientAlgNode::node_config_update(Config &config, uint32_t level)
this->stairs.set_x_shift_body(config.X_SHIFT_BODY);
config.load_config=false;
}
- else if(config.start_climbing)
+ else if(config.start_upstairs)
{
this->stairs.start(true);
- config.start_climbing=false;
+ config.start_upstairs=false;
+ }
+ else if(config.start_downstairs)
+ {
+ this->stairs.start(false);
+ config.start_downstairs=false;
}
else if(config.stop_climbing)
{
--
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