From 04baf9dcabbf73e86079766d42762c9e69756ff3 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Thu, 31 Aug 2017 07:27:27 +0200
Subject: [PATCH] [wip/sot-talos] Reflect changes in sot-core through patch-ab
---
sot-talos/Makefile | 2 +-
sot-talos/distinfo | 1 +
sot-talos/patches/patch-ab | 53 ++++++++++++++++++++++++++++++++++++++
3 files changed, 55 insertions(+), 1 deletion(-)
create mode 100644 sot-talos/patches/patch-ab
diff --git a/sot-talos/Makefile b/sot-talos/Makefile
index bf00ace7..2d75ed75 100644
--- a/sot-talos/Makefile
+++ b/sot-talos/Makefile
@@ -4,7 +4,7 @@
DISTNAME= sot-talos-0.0.2
MASTER_SITES= ${MASTER_SITE_JRL:=talos/sot-talos/}
MASTER_REPOSITORY= https://redmine.laas.fr/laas/users/
-PKGREVISION= 2
+PKGREVISION= 3
CATEGORIES= wip
COMMENT= This packages provides a generic Stack Of Tasks library for the humanoid robot Pyrene.
diff --git a/sot-talos/distinfo b/sot-talos/distinfo
index bc6e2d84..32e7a2d2 100644
--- a/sot-talos/distinfo
+++ b/sot-talos/distinfo
@@ -2,3 +2,4 @@ SHA1 (sot-talos-0.0.2.tar.gz) = 032a75e579bec14be3b5516693cbca68f5f744cf
RMD160 (sot-talos-0.0.2.tar.gz) = 47c0afd4a706ff0e57eccf9aa81ac80ef6a30a7a
Size (sot-talos-0.0.2.tar.gz) = 749436 bytes
SHA1 (patch-aa) = 068f01d154b5081b8bcfc379451f1f972f0a95fb
+SHA1 (patch-ab) = 91dce0eee45495c6dd82ae090f3dc39971702746
diff --git a/sot-talos/patches/patch-ab b/sot-talos/patches/patch-ab
new file mode 100644
index 00000000..c3a41380
--- /dev/null
+++ b/sot-talos/patches/patch-ab
@@ -0,0 +1,53 @@
+diff --git src/sot-talos-controller.cpp src/sot-talos-controller.cpp
+index 3d49f5c..231637d 100644
+--- src/sot-talos-controller.cpp
++++ src/sot-talos-controller.cpp
+@@ -116,6 +116,18 @@ getControl(map<string,dgsot::ControlValues> &controlOut)
+ }
+
+ void SoTTalosController::
++setNoIntegration(void)
++{
++ device_.setNoIntegration();
++}
++
++void SoTTalosController::
++setSecondOrderIntegration(void)
++{
++ device_.setSecondOrderIntegration();
++}
++
++void SoTTalosController::
+ runPython(std::ostream& file,
+ const std::string& command,
+ dynamicgraph::Interpreter& interpreter)
+diff --git src/sot-talos-controller.hh src/sot-talos-controller.hh
+index b58cc7e..bd1957c 100644
+--- src/sot-talos-controller.hh
++++ src/sot-talos-controller.hh
+@@ -42,6 +42,9 @@ class SoTTalosController: public
+
+ void getControl(std::map<std::string, dgsot::ControlValues> &anglesOut);
+
++ void setNoIntegration(void);
++ void setSecondOrderIntegration(void);
++
+ /// Embedded python interpreter accessible via Corba/ros
+ boost::shared_ptr<dynamicgraph::Interpreter> interpreter_;
+
+diff --git src/sot-talos-device.cpp src/sot-talos-device.cpp
+index 7f80772..3061f92 100644
+--- src/sot-talos-device.cpp
++++ src/sot-talos-device.cpp
+@@ -258,7 +258,7 @@ void SoTTalosDevice::getControl(map<string,dgsot::ControlValues> &controlOut)
+
+ for(unsigned int i=6; i < state_.size();++i)
+ anglesOut[i-6] = state_(i);
+- controlOut["joints"].setValues(anglesOut);
++ controlOut["control"].setValues(anglesOut);
+ // Read zmp reference from input signal if plugged
+ int time = controlSIN.getTime ();
+ zmpSIN.recompute (time + 1);
+--
+1.9.1
+
--
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