t.md

代码函数文件结构

src/main.cpp->main()->_FSMController->run()

FSM.cpp->FSM::run()->_data->sendRecv->ControlFSMData.h->sendRecv()->_interface->sendRecv(_lowCmd, _lowState)->CheatIO::sendRecv()

FSM.cpp->FSM::run()->_currentState->run()

MPC: FSMState_Walking.cpp->FSMState_Walking::run()->Cmpc.run(*_data);

ConvexMPCLocomotion.cpp->ConvexMPCLocomotion::run->ConvexMPCLocomotion::updateMPCIfNeeded->

convexMPC_interface.cpp->setup_problem() && update_problem_data()->solve_mpc()

SolveMPC.cpp->solve_mpc()

需要修改的地方

1. ConvexMPCLocomotion.cpp

   world_position_desired[2] = 0.55

   pBody_des[2] = 0.55

   hipOffset = {0, side * -0.02, -0.136}

   q(2) += 0.3 * PI;

   q(3) -= 0.6 * PI;

   q(4) += 0.3 * PI;

   q(7) += 0.3 * PI;

   q(8) -= 0.6 * PI;

   q(9) += 0.3 * PI;

   double trajInitial[12]的0.55

2. Biped.h

   leg_offset_x2,leg_offset_y2,leg_offset_z2

3. LegController.cpp

   q(2) = q(2) + 0.3*3.14159;

   q(3) = q(3) - 0.6*3.14159;

   q(4) = q(4) + 0.3*3.14159;

4. RobotState.cpp

   Id << 0.5413, 0.5200, 0.0691;

5. SolverMPC.cpp

   q(2) += 0.3PI; q(3) -= 0.6PI; q(4) += 0.3*PI;

   q(7) += 0.3PI; q(8) -= 0.6PI; q(9) += 0.3*PI;

   double motorTorqueLimit = 33.5