Buyoun Cho
[Ver 1.0] The code was given by Seunghoon shin, used for hydraulic quadrupedal robot. Buyoun Cho will revise the code for Post-LIGHT (the robot name is not determined yet).
Diff: setting.h
- Revision:
- 111:93289db9e77a
- Parent:
- 110:48dc9bede846
- Child:
- 115:f41863b95e6f
--- a/setting.h Thu Sep 10 07:41:24 2020 +0000 +++ b/setting.h Fri Sep 11 13:29:26 2020 +0000 @@ -427,16 +427,16 @@ //extern const int num_input ; //extern const int num_input_array; -#define numpast_u 0 +#define numpast_u 5 #define numpast_x 5 #define numfuture_x 0 -#define numpast_f 0 +#define numpast_f 5 #define numfuture_f 10 -#define num_input 17 //numpast_x + 1 + numfuture_x + numpast_f + 1 + numfuture_f +#define num_input 27 //numpast_x + 1 + numfuture_x + numpast_f + 1 + numfuture_f -#define num_array_u_past 1 // numpast_u * 2 + 1 +#define num_array_u_past 11 // numpast_u * 2 + 1 #define num_array_f_future 21 // numfuture_f * 2 + 1 -#define num_array_f_past 1 // numpast_f * 2 + 1 +#define num_array_f_past 11 // numpast_f * 2 + 1 #define num_array_x_past 11 // numpast_x * 2 + 1 #define num_array_x_future 1 // numfuture_x * 2 + 1