From 801b8133ee52fd4b803dfcf62a0ff073d10e69a7 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Sat, 5 Oct 2019 08:13:43 +0200
Subject: [PATCH] [wip/hpp-rbprm-robot-data] fix mixed space/tabs
---
hpp-rbprm-robot-data/Makefile | 1 +
hpp-rbprm-robot-data/distinfo | 1 +
hpp-rbprm-robot-data/patches/patch-aa | 115 ++++++++++++++++++++++++++
3 files changed, 117 insertions(+)
create mode 100644 hpp-rbprm-robot-data/patches/patch-aa
diff --git a/hpp-rbprm-robot-data/Makefile b/hpp-rbprm-robot-data/Makefile
index 3a869870..1a276396 100644
--- a/hpp-rbprm-robot-data/Makefile
+++ b/hpp-rbprm-robot-data/Makefile
@@ -4,6 +4,7 @@
HPP_PACKAGE= hpp-rbprm-robot-data
HPP_COMMENT= file database
+PKGREVISION= 1
CATEGORIES= wip
diff --git a/hpp-rbprm-robot-data/distinfo b/hpp-rbprm-robot-data/distinfo
index 21412249..6c4d9501 100644
--- a/hpp-rbprm-robot-data/distinfo
+++ b/hpp-rbprm-robot-data/distinfo
@@ -1,3 +1,4 @@
SHA1 (hpp-rbprm-robot-data-4.7.0.tar.gz) = 9234a2d94927349b35866213dd9b28e7e77f7569
RMD160 (hpp-rbprm-robot-data-4.7.0.tar.gz) = 1c010b33843edbf6bba0d7ca77d474202638e115
Size (hpp-rbprm-robot-data-4.7.0.tar.gz) = 21669530 bytes
+SHA1 (patch-aa) = fdbd10d448de7369f7ce3bbfb1298753662e0d82
diff --git a/hpp-rbprm-robot-data/patches/patch-aa b/hpp-rbprm-robot-data/patches/patch-aa
new file mode 100644
index 00000000..75b5a7e3
--- /dev/null
+++ b/hpp-rbprm-robot-data/patches/patch-aa
@@ -0,0 +1,115 @@
+--- data/hyq/com_inequalities/obj_to_constraints.py.orig 2019-09-25 18:40:13.000000000 +0200
++++ data/hyq/com_inequalities/obj_to_constraints.py 2019-10-05 08:12:48.223720636 +0200
+@@ -1,15 +1,20 @@
+ #do the loading of the obj file
+-import numpy as np
+ from collections import namedtuple
++from pickle import dump, load
++
++import numpy as np
++
+ ObjectData = namedtuple("ObjectData", "V T N F")
+ Inequalities = namedtuple("Inequality", "A b N V")
+
++
+ def toFloat(stringArray):
+ res= np.zeros(len(stringArray))
+ for i in range(0,len(stringArray)):
+ res[i] = float(stringArray[i])
+ return res
+
++
+ def load_obj(filename) :
+ V = [] #vertex
+ T = [] #texcoords
+@@ -40,12 +45,14 @@
+
+ return ObjectData(V, T, N, F)
+
++
+ def inequality(v, n):
+ #the plan has for equation ax + by + cz = d, with a b c coordinates of the normal
+ #inequality is then ax + by +cz -d <= 0
+ # last var is v because we need it
+ return [n[0], n[1], n[2], np.array(v).dot(np.array(n))]
+
++
+ def as_inequalities(obj):
+ #for each face, find first three points and deduce plane
+ #inequality is given by normal
+@@ -65,11 +72,14 @@
+ N[f,:] = n
+ return Inequalities(A,b, N, V)
+
++
+ def is_inside(inequalities, pt):
+ return ((inequalities.A.dot(pt) - inequalities.b) < 0).all()
+
++
+ #~ def rotate_inequalities_q():
+
++
+ # TODO this is naive, should be a way to simply update d
+ def rotate_inequalities(ineq, transform):
+ #for each face, find first three points and deduce plane
+@@ -88,19 +98,20 @@
+ N[i,:] = n
+ return Inequalities(A,b, N, V)
+
+-from pickle import dump
++
+ def ineq_to_file(ineq, filename):
+ f1=open(filename, 'w+')
+ res = { 'A' : ineq.A, 'b' : ineq.b, 'N' : ineq.N, 'V' : ineq.V}
+ dump(res, f1)
+ f1.close()
+
+-from pickle import load
++
+ def ineq_from_file(filename):
+ f1=open(filename, 'r')
+ res = load(f1)
+ return Inequalities(res['A'], res['b'],res['N'],res['V'])
+
++
+ def test_inequality():
+ n = np.array([0,-1,0])
+ v = np.array([0,1,1])
+@@ -109,6 +120,7 @@
+ else:
+ print("test_inequality successful")
+
++
+ def __gen_data():
+ obj = load_obj('./hrp2/RL_com._reduced.obj')
+ ineq = as_inequalities(obj)
+@@ -116,6 +128,7 @@
+ not_ok_points = [[-0.3399, 0.2478, -0.722],[-0.1385,-0.4401,-0.1071]]
+ return obj, ineq, ok_points, not_ok_points
+
++
+ def test_belonging():
+ data = __gen_data()
+ ineq = data[1]
+@@ -127,11 +140,10 @@
+ assert (not is_inside(ineq, np.array(p))), "point " + str(p) + " should NOT be inside object"
+ print("test_belonging successful")
+
++
+ def test_rotate_inequalities():
+
+- tr = np.array([[ 1. , 0. , 0. , 0. ],
+- [ 0. , 0.98006658, -0.19866933, 2. ],
+- [ 0. , 0.19866933, 0.98006658, 0. ],
++ tr = np.array([[1., 0., 0., 0.], [0., 0.98006658, -0.19866933, 2.], [0., 0.19866933, 0.98006658, 0.],
+ [ 0. , 0. , 0. , 1. ]])
+
+ data = __gen_data()
+@@ -150,6 +162,7 @@
+ ineq = as_inequalities(obj)
+ ineq_to_file (ineq, out_name)
+
++
+ load_obj_and_save_ineq('./lfleg_com_reduced.obj','./lfleg_com.ineq')
+ load_obj_and_save_ineq('./lhleg_com_reduced.obj','./lhleg_com.ineq')
+ load_obj_and_save_ineq('./rhleg_com_reduced.obj','./rhleg_com.ineq')
--
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