Made the requested changes ib LuGre parser

robotology · Dec 17, 2024 · da706ea · da706ea
1 parent fe4b56e
commit da706ea
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Showing 3 changed files with 12 additions and 19 deletions.
diff --git a/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp b/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp
@@ -958,12 +958,8 @@ bool embObjMotionControl::fromConfig_Step2(yarp::os::Searchable &config)
     ////// LUGRE PARAMETERS
     if(! _mcparser->parseLugreGroup(config,_lugre_params))
     {
-        yWarning() << "embObjMC " << getBoardInfo() << "LUGRE section: missing, sensorless torque estimation disabled";
-        static const double NOT_AVAILABLE = -1.0;
-        for(j=0; j<_njoints; j++)
-        {
-            _lugre_params[j].Km = NOT_AVAILABLE;
-        }
+        yError() << "embObjMC " << getBoardInfo() << "LUGRE section: error detected in parameters syntax";
+
     }
 
     ////// IMPEDANCE LIMITS DEFAULT VALUES (UNDER TESTING)

diff --git a/src/libraries/icubmod/embObjMotionControl/eomcParser.cpp b/src/libraries/icubmod/embObjMotionControl/eomcParser.cpp
@@ -2484,7 +2484,7 @@ bool Parser::parseLugreGroup(yarp::os::Searchable &config,std::vector<lugreParam
     {
         for (int j = 0; j<_njoints; ++j)
         {
-            lugre[j].S0 = 0.0;
+            lugre[j].Km = 1.0;
         }
 
         yWarning() <<"embObjMC BOARD " << _boardname << "fromConfig(): Warning: no LUGRE group found in config file, returning";

diff --git a/src/libraries/icubmod/embObjMotionControl/eomcParser.h b/src/libraries/icubmod/embObjMotionControl/eomcParser.h
@@ -514,18 +514,15 @@ typedef struct
 // LuGre friction model parameters
 typedef struct
 {
-    double Km;     // Motor torque constant (not strictly LuGre) but required to compute the net torque
-    double Kw;     // Viscous friction constant
-    double S0;     // LuGre bristle analogy eleastic constant
-    double S1;     // LuGre bristle analogy viscous constant
-    double Vth;    // Stribeck velocity threshold
-    double Fc_pos; // Coulomb friction constant (positive rotation)
-    double Fc_neg; // Coulomb friction constant (negative rotation)
-    double Fs_pos; // Stribeck friction constant (positive rotation)
-    double Fs_neg; // Stribeck friction constant (negative rotation)
-    double tbd0;   // for future use?
-    double tbd1;   // for future use?
-    double tbd2;   // for future use? 
+    double Km;     // Motor torque constant (not strictly LuGre) but required to compute the net torque [Nm/A]
+    double Kw;     // Viscous friction constant [Nm/(rad/s)]
+    double S0;     // LuGre bristle analogy eleastic constant [Nm/rad]
+    double S1;     // LuGre bristle analogy viscous constant [Nm/(rad/s)]
+    double Vth;    // Stribeck velocity threshold [rad/s]
+    double Fc_pos; // Coulomb friction constant (positive rotation) [Nm]
+    double Fc_neg; // Coulomb friction constant (negative rotation) [Nm]
+    double Fs_pos; // Stribeck friction constant (positive rotation) [Nm]
+    double Fs_neg; // Stribeck friction constant (negative rotation) [Nm]
 } lugreParameters_t;
 
 typedef struct