[wip/hpp-rbprm-corba] fix patch-aa

hpp-rbprm-corba/Makefile

@@ -4,7 +4,7 @@
 
 HPP_PACKAGE=		hpp-rbprm-corba
 HPP_COMMENT=		Corba server for RB-PRM
-PKGREVISION=		1
+PKGREVISION=		2
 
 CATEGORIES=		wip
 

hpp-rbprm-corba/distinfo

 SHA1 (hpp-rbprm-corba-4.7.0.tar.gz) = a362a05965cdb76ea2c29bc93895eaa9f489c6a7
 RMD160 (hpp-rbprm-corba-4.7.0.tar.gz) = 22572f81b009299a7bf01985d0a2bfb375a87f6f
 Size (hpp-rbprm-corba-4.7.0.tar.gz) = 31644468 bytes
-SHA1 (patch-aa) = da39a3ee5e6b4b0d3255bfef95601890afd80709
+SHA1 (patch-aa) = ba8562ee4d32cb890aa7ed3c758bc5fa08e6705c

hpp-rbprm-corba/patches/patch-aa

+--- src/hpp/corbaserver/rbprm/tools/path_to_trajectory.py.orig	2019-09-26 22:54:34.000000000 +0200
++++ src/hpp/corbaserver/rbprm/tools/path_to_trajectory.py	2019-10-22 12:11:55.371089605 +0200
+@@ -1,11 +1,17 @@
+-__24fps = 1. / 24.
+-__EPS = 0.00001
+ from __future__ import print_function
++
++import time
++
+ from numpy.linalg import norm
+ 
++__24fps = 1. / 24.
++__EPS = 0.00001
++
++
+ def __linear_interpolation(p0,p1,dist_p0_p1, val):
+ 	return p0 + (p1 - p0) * val / dist_p0_p1
+ 
++
+ def __gen_frame_positions(com_waypoints, dt, dt_framerate=__24fps):
+ 	total_time = (len(com_waypoints) - 1) * dt
+ 	dt_final = total_time * dt_framerate
+@@ -14,7 +20,9 @@
+ 	ids_val = []
+ 	for i in range(len(com_waypoints) - 1):
+ 		ids_val += [(i,val-dt*i) for val in dt_finals if (val < (i+1) *dt) and (val > i*dt)]
+-	return [com_waypoints[0]] + [__linear_interpolation(com_waypoints[i], com_waypoints[i+1], dt, val) for (i,val) in ids_val] + [com_waypoints[-1]]
++    return [com_waypoints[0]
++            ] + [__linear_interpolation(com_waypoints[i], com_waypoints[i + 1], dt, val)
++                 for (i, val) in ids_val] + [com_waypoints[-1]]
+ 
+ 
+ def __find_q_t(robot, path_player, path_id, t):
+@@ -41,6 +49,7 @@
+ 		u = (b+a)/2.
+ 	return u
+ 		
++
+ def linear_interpolate_path(robot, path_player, path_id, total_time, dt_framerate=__24fps):
+ 	pp = path_player
+ 	length = pp.client.problem.pathLength (path_id)
+@@ -49,6 +58,7 @@
+ 	dt_finals = [dt*i for i in range(int(round(num_frames_required))-1)] + [length]
+ 	return[pp.client.problem.configAtParam (path_id, t) for t in dt_finals]
+ 	
++
+ def follow_trajectory_path(robot, path_player, path_id, total_time, dt_framerate=__24fps):
+ 	pp = path_player
+ 	print("total_times in follow path : ",total_time)
+@@ -60,6 +70,7 @@
+ 	dt_finals = [dt*i / length for i in range(int(round(num_frames_required)))]
+ 	return[__find_q_t(robot, path_player, path_id, t) for t in dt_finals]
+ 	
++
+ def gen_trajectory_to_play(robot, path_player, path_ids, total_time_per_paths, dt_framerate=__24fps):
+ 	print("gen_trajectory : dt = ",dt_framerate)
+ 	config_size = len(robot.getCurrentConfig())
+@@ -77,7 +88,7 @@
+ 		activeid +=1
+ 	return res
+ 	
+-import time
++
+ def play_trajectory(fullBody, path_player, configs, dt_framerate=__24fps):
+ 	for q in configs:
+ 		start = time.time()
+@@ -87,12 +98,14 @@
+ 		if elapsed < dt_framerate :
+ 			time.sleep(dt_framerate-elapsed)
+ 
++
+ def displayFeetTrajectory(path_player,end_effector_names,colors,path_ids):
+ 	assert len(end_effector_names)==len(colors)
+ 	for path_id in path_ids:
+ 		for i in range(len(end_effector_names)):
+ 			path_player.displayPath(int(path_id),colors[i],end_effector_names[i])
+ 
++
+ #~ import numpy as np	
+ #~ com_waypoints = [np.array([i,i,i]) for i in range(6)]
+ #~ dt = 0.2