small fix for task priority assignment

ami-iit · Nov 13, 2024 · abf8a60 · abf8a60
1 parent f3d12ca
commit abf8a60
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Showing 2 changed files with 7 additions and 7 deletions.
diff --git a/src/IK/src/InverseKinematics.cpp b/src/IK/src/InverseKinematics.cpp
@@ -683,8 +683,8 @@ bool HumanIK::initializePoseTask(const std::string& taskName,
     int priority;
     if (!taskHandler->getParameter("priority", priority))
     {
-        BiomechanicalAnalysis::log()->error("{} Parameter priority of the {} task is missing", logPrefix, taskName);
-        return false;
+        BiomechanicalAnalysis::log()->warn("{} Parameter priority of the {} task is missing, setting to 1 (soft priority)", logPrefix, taskName);
+        priority = 1;
     }
 
     // Retrieve the mask parameter from config file, using the task handler

diff --git a/src/IK/tests/HumanIKTest.cpp b/src/IK/tests/HumanIKTest.cpp
@@ -50,16 +50,16 @@ TEST_CASE("InverseKinematics test")
     mapNodeData[7].I_omega_IMU = I_omega_IMU;
 
     std::unordered_map<std::string, BiomechanicalAnalysis::IK::nodeData> poseNodeData;
-    poseNodeData["root_link"].I_R_IMU = I_R_IMU;
-    poseNodeData["root_link"].I_omega_IMU = I_omega_IMU;
-    poseNodeData["root_link"].I_position = I_position;
-    poseNodeData["root_link"].I_linearVelocity = I_linearVelocity;
+    poseNodeData["link0"].I_R_IMU = I_R_IMU;
+    poseNodeData["link0"].I_omega_IMU = I_omega_IMU;
+    poseNodeData["link0"].I_position = I_position;
+    poseNodeData["link0"].I_linearVelocity = I_linearVelocity;
 
     qInitial.setConstant(0.0);
 
     REQUIRE(ik.initialize(paramHandler, kinDyn));
     REQUIRE(ik.setDt(0.1));
-    REQUIRE(ik.updatePoseTask("root_link", I_position, I_R_IMU, I_linearVelocity, I_omega_IMU));
+    REQUIRE(ik.updatePoseTask("link0", I_position, I_R_IMU, I_linearVelocity, I_omega_IMU));
     REQUIRE(ik.updateOrientationTask(4, I_R_IMU, I_omega_IMU));
     REQUIRE(ik.updateFloorContactTask(10, 11.0));
     REQUIRE(ik.updateGravityTask(10, I_R_IMU));