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feat: configure FRI position smoothing

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This commit is contained in:
Даниил Грабарь
2026-09-16 15:06:17 +10:00
parent 29a1601061
commit 1780532f51
14 changed files with 67 additions and 11 deletions
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src/iiwa_controller/test/test_fri_client.cpp
+14 -1
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@@ -23,7 +23,8 @@ public:
class ClientFixture : public iiwa_controller::FRIClient
{
public:
ClientFixture() : FRIClient(), app(connection, *this), data(app.data())
explicit ClientFixture(double position_smoothing_tau = 0.04)
: FRIClient(position_smoothing_tau), app(connection, *this), data(app.data())
{
auto & m = data->monitoringMsg;
m.connectionInfo.sendPeriod = 10;
@@ -113,6 +114,18 @@ TEST(FRIClient, PositionCommandsAreSmoothedBeforeSending)
EXPECT_DOUBLE_EQ(client.getStateSnapshot().measured_pos[0], 0.2);
}
TEST(FRIClient, ZeroPositionSmoothingTauForwardsStepImmediately)
{
ClientFixture client(0.0);
client.cycle(COMMANDING_WAIT);
client.cycle(COMMANDING_ACTIVE);
iiwa_controller::FRIClient::Joints q;
q.fill(0.41);
client.setTargetJointPositions(q);
client.cycle(COMMANDING_ACTIVE);
EXPECT_DOUBLE_EQ(client.sentPosition(), 0.41);
}
TEST(FRIClient, RejectsInvalidCommandsAndBoundsCommandRate)
{
ClientFixture client;