{"action":"created","issue":{"url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/924","labels_url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/924/labels{/name}","comments_url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/924/comments","events_url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/924/events","html_url":"https://github.com/fkanehiro/hrpsys-base/pull/924","id":123837578,"number":924,"title":"[Stabilizer.cpp] fix com height of LIPM in Capture Point calculation","user":{"login":"eisoku9618","id":4509039,"avatar_url":"https://avatars.githubusercontent.com/u/4509039?v=3","gravatar_id":"","url":"https://api.github.com/users/eisoku9618","html_url":"https://github.com/eisoku9618","followers_url":"https://api.github.com/users/eisoku9618/followers","following_url":"https://api.github.com/users/eisoku9618/following{/other_user}","gists_url":"https://api.github.com/users/eisoku9618/gists{/gist_id}","starred_url":"https://api.github.com/users/eisoku9618/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/eisoku9618/subscriptions","organizations_url":"https://api.github.com/users/eisoku9618/orgs","repos_url":"https://api.github.com/users/eisoku9618/repos","events_url":"https://api.github.com/users/eisoku9618/events{/privacy}","received_events_url":"https://api.github.com/users/eisoku9618/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":5,"created_at":"2015-12-24T22:39:02Z","updated_at":"2015-12-26T14:18:20Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/fkanehiro/hrpsys-base/pulls/924","html_url":"https://github.com/fkanehiro/hrpsys-base/pull/924","diff_url":"https://github.com/fkanehiro/hrpsys-base/pull/924.diff","patch_url":"https://github.com/fkanehiro/hrpsys-base/pull/924.patch"},"body":"@snozawa @YutaKojio \r\n\r\nCPの計算式はこうではないでしょか？\r\n\r\n- act_cog / act_cogvel / act_zmp は全部 foot_origin座標系相対\r\n- foot_origin座標系のz方向は重力ベクトルの反対方向と一致\r\n- foot_origin座標系の原点は足先リンク座標系の原点と一致\r\n- CPの計算式に出てくるzは倒立振子の高さ\r\n\r\nという理解で合っているとすると\r\n\r\n```lisp\r\n(elt\r\n (v-\r\n  (send (send (car (send *robot* :rleg :force-sensors)) :parent) :worldpos)\r\n  (send (send *robot* :rleg :end-coords) :worldpos))\r\n 2)\r\n```\r\n\r\nの分だけずれているように思いました．"},"comment":{"url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/comments/167327403","html_url":"https://github.com/fkanehiro/hrpsys-base/pull/924#issuecomment-167327403","issue_url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/924","id":167327403,"user":{"login":"snozawa","id":6102287,"avatar_url":"https://avatars.githubusercontent.com/u/6102287?v=3","gravatar_id":"","url":"https://api.github.com/users/snozawa","html_url":"https://github.com/snozawa","followers_url":"https://api.github.com/users/snozawa/followers","following_url":"https://api.github.com/users/snozawa/following{/other_user}","gists_url":"https://api.github.com/users/snozawa/gists{/gist_id}","starred_url":"https://api.github.com/users/snozawa/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/snozawa/subscriptions","organizations_url":"https://api.github.com/users/snozawa/orgs","repos_url":"https://api.github.com/users/snozawa/repos","events_url":"https://api.github.com/users/snozawa/events{/privacy}","received_events_url":"https://api.github.com/users/snozawa/received_events","type":"User","site_admin":false},"created_at":"2015-12-26T14:18:20Z","updated_at":"2015-12-26T14:18:20Z","body":"LGTM。\r\ntravisも通ってるようですので、お手すきのときにご確認いただけますと幸いです。"}}