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reverse mtsPID: smoother velocities when in simulation mode #3

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reverse mtsPID: smoother velocities when in simulation mode #3

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41 changes: 12 additions & 29 deletions components/code/mtsPID.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -864,42 +864,25 @@ void mtsPID::GetIOData(const bool computeVelocity)
if (computeVelocity) {
// or compute an estimate from position
double dt = mPositionMeasure.Timestamp() - mPositionMeasurePrevious.Timestamp();
if (!mIsSimulated) {
if (dt > 0) {
vctDoubleVec::const_iterator currentPosition = mPositionMeasure.Position().begin();
vctDoubleVec::const_iterator previousPosition = mPositionMeasurePrevious.Position().begin();
vctDoubleVec::iterator velocity;
const vctDoubleVec::iterator end = mVelocityMeasure.Velocity().end();
for (velocity = mVelocityMeasure.Velocity().begin();
velocity != end;
++velocity) {
*velocity = (*currentPosition - *previousPosition) / dt;
}
if (dt > 0) {
vctDoubleVec::const_iterator currentPosition = mPositionMeasure.Position().begin();
vctDoubleVec::const_iterator previousPosition = mPositionMeasurePrevious.Position().begin();
vctDoubleVec::iterator velocity;
const vctDoubleVec::iterator end = mVelocityMeasure.Velocity().end();
for (velocity = mVelocityMeasure.Velocity().begin();
velocity != end;
++velocity) {
*velocity = (*currentPosition - *previousPosition) / dt;
}
} else {
// for simulation
if (dt > 0) {
vctDoubleVec::const_iterator currentPosition = mPositionMeasure.Position().begin();
vctDoubleVec::const_iterator previousPosition = mPositionMeasurePrevious.Position().begin();
vctDoubleVec::iterator velocity;
const vctDoubleVec::iterator end = mVelocityMeasure.Velocity().end();
for (velocity = mVelocityMeasure.Velocity().begin();
velocity != end;
++velocity) {
if (*currentPosition != *previousPosition) {
*velocity = (*currentPosition - *previousPosition) / dt;
}
}
}

// dt is useless set to zero to be safe
mVelocityMeasure.Velocity().SetAll(0.0);
}
} else {
// user requested to not compute velocities, likely
// because previousPosition can't be trusted (e.g. after
// coupling change)
if (!mIsSimulated) {
mVelocityMeasure.Velocity().SetAll(0.0);
}
mVelocityMeasure.Velocity().SetAll(0.0);
}
}

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