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mobile_robotics
wolf_projects
wolf_lib
plugins
bodydynamics
Commits
f955b055
Commit
f955b055
authored
5 years ago
by
Médéric Fourmy
Browse files
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Try different way to store traj, separated for loops
parent
3e451e5d
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2 merge requests
!18
Release after RAL
,
!17
After 2nd RAL submission
Changes
1
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1 changed file
demos/mcapi_povcdl_estimation.cpp
+8
-5
8 additions, 5 deletions
demos/mcapi_povcdl_estimation.cpp
with
8 additions
and
5 deletions
demos/mcapi_povcdl_estimation.cpp
+
8
−
5
View file @
f955b055
...
@@ -627,9 +627,9 @@ int main (int argc, char **argv) {
...
@@ -627,9 +627,9 @@ int main (int argc, char **argv) {
std
::
fstream
file_kfs
;
std
::
fstream
file_kfs
;
std
::
fstream
file_wre
;
std
::
fstream
file_wre
;
file_gtr
.
open
(
"/home/mfourmy/Documents/Phd_LAAS/general_phd_repo/centroidalkin/gtr.csv"
,
std
::
fstream
::
out
);
file_gtr
.
open
(
"/home/mfourmy/Documents/Phd_LAAS/general_phd_repo/centroidalkin/gtr.csv"
,
std
::
fstream
::
out
);
file_est
.
open
(
"/home/mfourmy/Documents/Phd_LAAS/ge
r
eral_phd_repo/centroidalkin/est.csv"
,
std
::
fstream
::
out
);
file_est
.
open
(
"/home/mfourmy/Documents/Phd_LAAS/ge
n
eral_phd_repo/centroidalkin/est.csv"
,
std
::
fstream
::
out
);
file_kfs
.
open
(
"/home/mfourmy/Documents/Phd_LAAS/ge
r
eral_phd_repo/centroidalkin/kfs.csv"
,
std
::
fstream
::
out
);
file_kfs
.
open
(
"/home/mfourmy/Documents/Phd_LAAS/ge
n
eral_phd_repo/centroidalkin/kfs.csv"
,
std
::
fstream
::
out
);
file_wre
.
open
(
"/home/mfourmy/Documents/Phd_LAAS/ge
r
eral_phd_repo/centroidalkin/wre.csv"
,
std
::
fstream
::
out
);
file_wre
.
open
(
"/home/mfourmy/Documents/Phd_LAAS/ge
n
eral_phd_repo/centroidalkin/wre.csv"
,
std
::
fstream
::
out
);
std
::
string
header
=
"t,px,py,pz,qx,qy,qz,qw,vx,vy,vz,cx,cy,cz,cdx,cdy,cdz,Lx,Ly,Lz
\n
"
;
std
::
string
header
=
"t,px,py,pz,qx,qy,qz,qw,vx,vy,vz,cx,cy,cz,cdx,cdy,cdz,Lx,Ly,Lz
\n
"
;
file_gtr
<<
header
;
file_gtr
<<
header
;
file_est
<<
header
;
file_est
<<
header
;
...
@@ -638,7 +638,6 @@ int main (int argc, char **argv) {
...
@@ -638,7 +638,6 @@ int main (int argc, char **argv) {
std
::
string
header_wre
=
"t,plfx,plfy,plfz,prfx,prfy,prfz,f_lfx,f_lfy,f_lfz,f_rfx,f_rfy,f_rfz,tau_lfx,tau_lfy,tau_lfz,tau_rfx,tau_rfy,tau_rfz
\n
"
;
std
::
string
header_wre
=
"t,plfx,plfy,plfz,prfx,prfy,prfz,f_lfx,f_lfy,f_lfz,f_rfx,f_rfy,f_rfz,tau_lfx,tau_lfy,tau_lfz,tau_rfx,tau_rfy,tau_rfz
\n
"
;
file_wre
<<
header_wre
;
file_wre
<<
header_wre
;
VectorComposite
state_est
;
for
(
unsigned
int
i
=
0
;
i
<
t_arr
.
size
();
i
++
)
{
for
(
unsigned
int
i
=
0
;
i
<
t_arr
.
size
();
i
++
)
{
file_gtr
<<
std
::
setprecision
(
std
::
numeric_limits
<
long
double
>::
digits10
+
1
)
file_gtr
<<
std
::
setprecision
(
std
::
numeric_limits
<
long
double
>::
digits10
+
1
)
<<
t_arr
[
i
]
<<
","
<<
t_arr
[
i
]
<<
","
...
@@ -662,7 +661,10 @@ int main (int argc, char **argv) {
...
@@ -662,7 +661,10 @@ int main (int argc, char **argv) {
<<
L_traj_arr
[
i
](
1
)
<<
","
<<
L_traj_arr
[
i
](
1
)
<<
","
<<
L_traj_arr
[
i
](
2
)
<<
L_traj_arr
[
i
](
2
)
<<
std
::
endl
;
<<
std
::
endl
;
}
VectorComposite
state_est
;
for
(
unsigned
int
i
=
0
;
i
<
t_arr
.
size
();
i
++
)
{
state_est
=
problem
->
getState
(
t_arr
[
i
]);
state_est
=
problem
->
getState
(
t_arr
[
i
]);
file_est
<<
std
::
setprecision
(
std
::
numeric_limits
<
long
double
>::
digits10
+
1
)
file_est
<<
std
::
setprecision
(
std
::
numeric_limits
<
long
double
>::
digits10
+
1
)
<<
t_arr
[
i
]
<<
","
<<
t_arr
[
i
]
<<
","
...
@@ -686,7 +688,8 @@ int main (int argc, char **argv) {
...
@@ -686,7 +688,8 @@ int main (int argc, char **argv) {
<<
state_est
[
'L'
](
1
)
<<
","
<<
state_est
[
'L'
](
1
)
<<
","
<<
state_est
[
'L'
](
2
)
<<
state_est
[
'L'
](
2
)
<<
"
\n
"
;
<<
"
\n
"
;
}
for
(
unsigned
int
i
=
0
;
i
<
t_arr
.
size
();
i
++
)
{
file_wre
<<
std
::
setprecision
(
std
::
numeric_limits
<
long
double
>::
digits10
+
1
)
file_wre
<<
std
::
setprecision
(
std
::
numeric_limits
<
long
double
>::
digits10
+
1
)
<<
t_arr
[
i
]
<<
","
<<
t_arr
[
i
]
<<
","
<<
p_bll_meas_v
[
i
](
0
)
<<
","
<<
p_bll_meas_v
[
i
](
0
)
<<
","
...
...
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