Removed last method with argument from the WalkingControllerParameters! The configuring of the ToeSlippingDetectior now works through a parameter class.

Author: gwiedebach

Atlas/src/us/ihmc/atlas/parameters/AtlasWalkingControllerParameters.java

@@ -18,8 +18,8 @@
 import us.ihmc.commonWalkingControlModules.configurations.SteppingParameters;
 import us.ihmc.commonWalkingControlModules.configurations.SwingTrajectoryParameters;
 import us.ihmc.commonWalkingControlModules.configurations.ToeOffParameters;
+import us.ihmc.commonWalkingControlModules.configurations.ToeSlippingDetectorParameters;
 import us.ihmc.commonWalkingControlModules.configurations.WalkingControllerParameters;
-import us.ihmc.commonWalkingControlModules.controlModules.foot.ToeSlippingDetector;
 import us.ihmc.commonWalkingControlModules.controlModules.rigidBody.RigidBodyControlMode;
 import us.ihmc.commonWalkingControlModules.controllerCore.command.inverseDynamics.JointAccelerationIntegrationSettings;
 import us.ihmc.commonWalkingControlModules.instantaneousCapturePoint.ICPControlGains;
@@ -141,13 +141,9 @@ public boolean enableToeOffSlippingDetection()
 
    /** {@inheritDoc} */
    @Override
-   public void configureToeSlippingDetector(ToeSlippingDetector toeSlippingDetectorToConfigure)
+   public ToeSlippingDetectorParameters getToeSlippingDetectorParameters()
    {
-      double forceMagnitudeThreshold = 25.0;
-      double velocityThreshold = 0.4;
-      double slippageDistanceThreshold = 0.04;
-      double filterBreakFrequency = 10.0;
-      toeSlippingDetectorToConfigure.configure(forceMagnitudeThreshold, velocityThreshold, slippageDistanceThreshold, filterBreakFrequency);
+      return new ToeSlippingDetectorParameters();
    }
 
    /** @inheritDoc */

CommonWalkingControlModules/src/us/ihmc/commonWalkingControlModules/configurations/ToeSlippingDetectorParameters.java

@@ -0,0 +1,39 @@
+package us.ihmc.commonWalkingControlModules.configurations;
+
+public class ToeSlippingDetectorParameters
+{
+   /**
+    * Returns the forceMagnitudeThreshold. As long as the foot force magnitude remains above this
+    * threshold, the toe will be considered as not slipping.
+    */
+   public double getForceMagnitudeThreshold()
+   {
+      return 25.0;
+   }
+
+   /**
+    * Returns the velocityThreshold. This is one of the conditions to trigger the slipping detection: the
+    * toe linear velocity magnitude has to be greater than this threshold.
+    */
+   public double getVelocityThreshold()
+   {
+      return 0.4;
+   }
+
+   /**
+    * Returns the slippageDistanceThreshold. This is one of the condition to trigger the slipping
+    * detection: the amount of slipping has to be greater than this threshold.
+    */
+   public double getSlippageDistanceThreshold()
+   {
+      return 0.04;
+   }
+
+   /**
+    * Returns the filterBreakFrequency. This the break frequency to use for the internal low-pass filters.
+    */
+   public double getFilterBreakFrequency()
+   {
+      return 10.0;
+   }
+}

CommonWalkingControlModules/src/us/ihmc/commonWalkingControlModules/configurations/WalkingControllerParameters.java

@@ -99,23 +99,16 @@ public boolean enableToeOffSlippingDetection()
    }
 
    /**
-    * Method will set robot specific parameters in the provided {@link #ToeSlippingDetector}.
-    * Note that this method is only called if {@link #enableToeOffSlippingDetection()} returns {@code true}.
-    * </p>
-    * Override this method to configure the parameters as follows:
-    * </p>
-    * {@code double forceMagnitudeThreshold = 25.0;}</br>
-    * {@code double velocityThreshold = 0.4;}</br>
-    * {@code double double slippageDistanceThreshold = 0.04;}</br>
-    * {@code double filterBreakFrequency = 10.0;}</br>
-    * {@code toeSlippingDetectorToConfigure.configure(forceMagnitudeThreshold, velocityThreshold, slippageDistanceThreshold, filterBreakFrequency);}
+    * Method returns robot specific parameters for the {@link #ToeSlippingDetector}.
+    * <p>
+    * Must be overwritten if {@link #enableToeOffSlippingDetection()} returns {@code true}.
     * </p>
-    * @param toeSlippingDetectorToConfigure (modified)
+    * @return the parameters for slip detection during toe off.
     * @see ToeSlippingDetector#configure(double, double, double, double)
     */
-   public void configureToeSlippingDetector(ToeSlippingDetector toeSlippingDetectorToConfigure)
+   public ToeSlippingDetectorParameters getToeSlippingDetectorParameters()
    {
-      throw new RuntimeException("Override this method if using the " + ToeSlippingDetector.class.getSimpleName());
+      return null;
    }
 
    /**

CommonWalkingControlModules/src/us/ihmc/commonWalkingControlModules/controlModules/foot/FootControlHelper.java

@@ -75,7 +75,7 @@ public FootControlHelper(RobotSide robotSide, WalkingControllerParameters walkin
          double controlDT = controllerToolbox.getControlDT();
          FootSwitchInterface footSwitch = controllerToolbox.getFootSwitches().get(robotSide);
          toeSlippingDetector = new ToeSlippingDetector(namePrefix, controlDT, foot, footSwitch, registry);
-         walkingControllerParameters.configureToeSlippingDetector(toeSlippingDetector);
+         toeSlippingDetector.configure(walkingControllerParameters.getToeSlippingDetectorParameters());
       }
       else
       {

CommonWalkingControlModules/src/us/ihmc/commonWalkingControlModules/controlModules/foot/ToeSlippingDetector.java

@@ -1,8 +1,6 @@
 package us.ihmc.commonWalkingControlModules.controlModules.foot;
 
-import us.ihmc.yoVariables.registry.YoVariableRegistry;
-import us.ihmc.yoVariables.variable.YoBoolean;
-import us.ihmc.yoVariables.variable.YoDouble;
+import us.ihmc.commonWalkingControlModules.configurations.ToeSlippingDetectorParameters;
 import us.ihmc.euclid.referenceFrame.FramePoint3D;
 import us.ihmc.euclid.referenceFrame.FrameVector3D;
 import us.ihmc.euclid.referenceFrame.ReferenceFrame;
@@ -13,6 +11,9 @@
 import us.ihmc.robotics.screwTheory.Twist;
 import us.ihmc.robotics.screwTheory.Wrench;
 import us.ihmc.robotics.sensors.FootSwitchInterface;
+import us.ihmc.yoVariables.registry.YoVariableRegistry;
+import us.ihmc.yoVariables.variable.YoBoolean;
+import us.ihmc.yoVariables.variable.YoDouble;
 
 public class ToeSlippingDetector
 {
@@ -69,22 +70,15 @@ public ToeSlippingDetector(String namePrefix, double controlDT, RigidBody foot,
     * toe-off is strongly slipping. When this is the case, the walking controller will attempt to
     * stop the toe-off by swinging the foot.
     * </p>
-    * 
-    * @param forceMagnitudeThreshold as long as the foot force magnitude remains above this
-    *           threshold, the toe will be considered as not slipping.
-    * @param velocityThreshold this is one of the condition to trigger the slipping detection: the
-    *           toe linear velocity magnitude has to be greater than this threshold.
-    * @param slippageDistanceThreshold this is one of the condition to trigger the slipping
-    *           detection: the amount of slipping has to be greater than this threshold.
-    * @param filterBreakFrequency this the break frequency to use for the internal low-pass filters.
+    * @param parameters contain the values that the internal parameters will be set to.
+    * @see ToeSlippingDetectorParameters
     */
-   public void configure(double forceMagnitudeThreshold, double velocityThreshold, double slippageDistanceThreshold,
-                         double filterBreakFrequency)
+   public void configure(ToeSlippingDetectorParameters parameters)
    {
-      this.forceMagnitudeThreshold.set(forceMagnitudeThreshold);
-      this.velocityThreshold.set(velocityThreshold);
-      this.slippageDistanceThreshold.set(slippageDistanceThreshold);
-      alpha.set(AlphaFilteredYoVariable.computeAlphaGivenBreakFrequencyProperly(filterBreakFrequency, dt));
+      this.forceMagnitudeThreshold.set(parameters.getForceMagnitudeThreshold());
+      this.velocityThreshold.set(parameters.getVelocityThreshold());
+      this.slippageDistanceThreshold.set(parameters.getSlippageDistanceThreshold());
+      alpha.set(AlphaFilteredYoVariable.computeAlphaGivenBreakFrequencyProperly(parameters.getFilterBreakFrequency(), dt));
    }
 
    private final FramePoint3D toeContactPointPosition = new FramePoint3D();