fkanehiro/hrpsys-base — pull request #275 by mmurooka (2014-07-26 08:30:55+00:00)
Title: Interplate default_zmp_offsets

I talked with @snozawa , and modified AutoBalancer to interpolate default_zmp_offsets when `AutoBalancer::setAutoBalancerParam` is called.
SequencePlayer/interpolator is used to interpolate.

I'd like some experts to see whether this PR is OK or not.

I checked this PR works by the following test environment.

```
rtmlaunch hrpsys_ros_bridge_tutorials hrp2jsknt.launch
# another terminal
ipython -i `rospack find hrpsys_tools`/scripts/hrpsys_tools_config.py -- --use-unstable-rtc HRP2JSKNT\(Robot\)0 /home/murooka/prog/OpenHRP/etc/HRP2JSKNT_for_OpenHRP3/HRP2JSKNTmain.wrl \\-ORBInitRef NameService=corbaloc:iiop:localhost:15005/NameService
# reset pose
hcf.seq_svc.setJointAngles([0.0, 0.0, -0.453786, 0.872665, -0.418879, 0.0, 0.0, 0.0, 0.0, -0.453786, 0.872665, -0.418879, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.174533, -0.174533, 0.0, -0.436332, 0.0, 0.0, -0.174533, 0.261799, 0.174533, 0.174533, 0.0, -0.436332, 0.0, 0.0, -0.174533, -0.261799],1)
hcf.seq_svc.waitInterpolation()
# start AutoBalancer
hcf.abc_svc.startAutoBalancer([":rleg", ":lleg"])
# set AutoBalancer ZMP offset
p=hcf.abc_svc.getAutoBalancerParam()
p[1].default_zmp_offsets=[[0.05, 0.0, 0.0], [0.05, 0.0, 0.0]]
hcf.abc_svc.setAutoBalancerParam(p[1])
```
I confirmed that default_zmp_offsets is interpolated correctly by the log output: https://github.com/mmurooka/hrpsys-base/compare/interpolate-abc-zmp-offset?expand=1#diff-eb446f98e459d63000964d63fc0a3365R335.
HRP2 in hrpsys-simulator also moves smoothly when I changed default_zmp_offsets.