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:
- 122:dcb3ce3056a0
- Parent:
- 121:89396c37b03e
- Child:
- 125:2397bee14630
--- a/setting.h Tue Sep 15 00:22:01 2020 +0000 +++ b/setting.h Tue Sep 15 05:29:49 2020 +0000 @@ -429,16 +429,16 @@ #define numpast_u 0 #define numpast_x 5 -#define numfuture_x 5 +#define numfuture_x 0 #define numpast_f 5 #define numfuture_f 10 -#define num_input 27 //numpast_x + 1 + numfuture_x + numpast_f + 1 + numfuture_f +#define num_input 22 //numpast_x + 1 + numfuture_x + numpast_f + 1 + numfuture_f #define num_array_u_past 1 // numpast_u * time_interval + 1 #define num_array_f_future 11 // numfuture_f * time_interval + 1 #define num_array_f_past 6 // numpast_f * time_interval + 1 #define num_array_x_past 6 // numpast_x * time_interval + 1 -#define num_array_x_future 6 // numfuture_x * time_interval + 1 +#define num_array_x_future 1 // numfuture_x * time_interval + 1 #define time_interval 1