<div dir="ltr">What limitations do you see in the DH parameters? <div><br></div><div>Let me explain my situation. I am working with biped gait control, but in order to focus in the concept i am working in Matlab environment. I created an IPC between the RTC and Matlab using TCP/IP connection, In Matlab i am implementing the IK and FK of the robot, and so i must have the transformation and jacobian matrix. To get that i am using the DH parameters. What would you recommend me to use in my situation to model the robot kinematics? For the ZMP implementation I am using the inverted pendulum model for now.</div>
<div><br></div><div>Best regards,</div></div><div class="gmail_extra"><br><br><div class="gmail_quote">On Fri, Nov 8, 2013 at 1:37 PM, Luis Filipe Rossi <span dir="ltr"><<a href="mailto:luisf.rossi@gmail.com" target="_blank">luisf.rossi@gmail.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex"><div dir="ltr">No problem at all, <div><br></div><div>I must say thank you for providing a solution so fast. Just updated that line of code, compiled and seems to be working. </div>
<div><br></div><div>I will hep with whatever I can.</div>
<div><br></div><div>Best regards,</div></div><div class="gmail_extra"><div><div class="h5"><br><br><div class="gmail_quote">On Fri, Nov 8, 2013 at 8:34 AM, Shin'ichiro Nakaoka <span dir="ltr"><<a href="mailto:s.nakaoka@aist.go.jp" target="_blank">s.nakaoka@aist.go.jp</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex"><br>
Hi Luis,<br>
<div><br>
> I will send you de model tomorrow. It is at the lab computer. It is<br>
> basically the SR1 model with no chest, arms and head. I added the force<br>
> sensor as it is at the HRP-4C model.<br>
<br>
</div>Thank you for this.<br>
I tried to load your modified model and confirmed that Choreonoid<br>
crashes, and I have found a bug causing this problem.<br>
<br>
By applying the following modification, the bug is fixed:<br>
<br>
--- a/src/Body/Device.h<br>
+++ b/src/Body/Device.h<br>
@@ -143,7 +143,7 @@<br>
if(TargetType* device = dynamic_cast<TargetType*>(get(i))){<br>
const int id = device->id();<br>
if(id >= 0){<br>
- if(out_map.size() >= id){<br>
+ if(out_map.size() <= id){<br>
out_map.resize(id + 1);<br>
}<br>
out_map[id] = device;<br>
<br>
I'm sorry to trouble you,<br>
and thank you so much for pointing out this problem.<br>
<div><div><br>
--<br>
Shin'ichiro Nakaoka <<a href="mailto:s.nakaoka@aist.go.jp" target="_blank">s.nakaoka@aist.go.jp</a>><br>
_______________________________________________<br>
choreonoid-users mailing list<br>
<a href="mailto:choreonoid-users@choreonoid.org" target="_blank">choreonoid-users@choreonoid.org</a><br>
<a href="https://choreonoid.org/mailman/listinfo/choreonoid-users" target="_blank">https://choreonoid.org/mailman/listinfo/choreonoid-users</a><br>
</div></div></blockquote></div><br><br clear="all"><div><br></div></div></div><div class="im">-- <br><div dir="ltr"><div>Luís Filipe Rossi<br>Electrical Engineer</div>
<div><span style="border-collapse:separate;text-indent:0px;letter-spacing:normal;font:medium 'Times New Roman';text-transform:none;white-space:normal;word-spacing:0px"><span style="border-collapse:collapse;font-family:arial,sans-serif;font-size:13px">Biomechatronics
Lab. / <span style="border-collapse:separate;text-indent:0px;letter-spacing:normal;font:medium 'Times New Roman';text-transform:none;white-space:normal;word-spacing:0px"><span style="border-collapse:collapse;font-family:arial,sans-serif;font-size:13px">Grupo
de Sensores Integráveis e Sistemas</span></span></span></span></div>
<div>Escola Politécnica<br>Universidade de São Paulo</div>
<div>Cel. <a href="tel:%2B55%20%2811%29%2097662-9234" value="+5511976629234" target="_blank">+55 (11) 97662-9234</a></div></div>
</div></div>
</blockquote></div><br><br clear="all"><div><br></div>-- <br><div dir="ltr"><div>Luís Filipe Rossi<br>Electrical Engineer</div>
<div><span style="text-transform:none;text-indent:0px;border-collapse:separate;font:medium 'Times New Roman';white-space:normal;letter-spacing:normal;color:rgb(0,0,0);word-spacing:0px"><span style="border-collapse:collapse;font-family:arial,sans-serif;font-size:13px">Biomechatronics
Lab. / <span style="text-transform:none;text-indent:0px;border-collapse:separate;font:medium 'Times New Roman';white-space:normal;letter-spacing:normal;color:rgb(0,0,0);word-spacing:0px"><span style="border-collapse:collapse;font-family:arial,sans-serif;font-size:13px">Grupo
de Sensores Integráveis e Sistemas</span></span></span></span></div>
<div>Escola Politécnica<br>Universidade de São Paulo</div>
<div>Cel. +55 (11) 97662-9234</div></div>
</div>