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Commit f3ab3d63 authored by Olivier Stasse's avatar Olivier Stasse
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[wip/sot-dynamic-pinocchio] Update to v3.1.3

Fix numerous uncessary references to sot-dynamic
parent 48a617b9
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......@@ -2,11 +2,10 @@
# Created: Rohan Budhiraja on Fri, 8 Apr 2016
#
VERSION= 3.1.1
PKGREVISION= 2
VERSION= 3.1.3
DISTNAME= sot-dynamic-pinocchio-v3-${VERSION}
MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=sot-dynamic-pinocchio-v3/}
MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}proyan/sot-dynamic/
MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}stack-of-tasks/sot-dynamic-pinocchio/
MAINTAINER= gepetto@laas.fr
......
@comment Fri Dec 6 09:25:38 CET 2013
include/sot-dynamic/angle-estimator.h
include/sot-dynamic/config.hh
include/sot-dynamic/deprecated.hh
include/sot-dynamic/dynamic.h
include/sot-dynamic/force-compensation.h
include/sot-dynamic/integrator-force-exact.h
include/sot-dynamic/integrator-force-rk4.h
include/sot-dynamic/integrator-force.h
include/sot-dynamic/mass-apparent.h
include/sot-dynamic/matrix-inertia.h
include/sot-dynamic/waist-attitude-from-sensor.h
include/sot-dynamic/warning.hh
include/sot-dynamic/zmpreffromcom.h
lib/libsot-dynamic.so
lib/pkgconfig/sot-dynamic.pc
lib/plugin/angle-estimator.so
lib/plugin/angle-estimator.so.${PKGVERSION}
lib/plugin/dynamic.so
lib/plugin/dynamic.so.${PKGVERSION}
lib/plugin/force-compensation.so
lib/plugin/force-compensation.so.${PKGVERSION}
lib/plugin/integrator-force-exact.so
lib/plugin/integrator-force-exact.so.${PKGVERSION}
lib/plugin/integrator-force-rk4.so
lib/plugin/integrator-force-rk4.so.${PKGVERSION}
lib/plugin/integrator-force.so
lib/plugin/integrator-force.so.${PKGVERSION}
lib/plugin/mass-apparent.so
lib/plugin/mass-apparent.so.${PKGVERSION}
lib/plugin/waist-attitude-from-sensor.so
lib/plugin/waist-attitude-from-sensor.so.${PKGVERSION}
lib/plugin/zmp-from-forces.so
lib/plugin/zmp-from-forces.so.${PKGVERSION}
lib/plugin/zmpreffromcom.so
lib/plugin/zmpreffromcom.so.${PKGVERSION}
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/angle_estimator/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/angle_estimator/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/dynamic/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/dynamic/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/force_compensation/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/force_compensation/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/humanoid_robot.py
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/integrator_force/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/integrator_force/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/integrator_force_exact/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/integrator_force_exact/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/integrator_force_rk4/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/integrator_force_rk4/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/mass_apparent/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/mass_apparent/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/parser.py
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/tools.py
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/waist_attitude_from_sensor/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/waist_attitude_from_sensor/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/zmp_from_forces/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/zmp_from_forces/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/zmpreffromcom/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics/zmpreffromcom/wrap.so
include/sot-dynamic-pinocchio/angle-estimator.h
include/sot-dynamic-pinocchio/config.hh
include/sot-dynamic-pinocchio/deprecated.hh
include/sot-dynamic-pinocchio/dynamic-pinocchio.h
include/sot-dynamic-pinocchio/force-compensation.h
include/sot-dynamic-pinocchio/integrator-force-exact.h
include/sot-dynamic-pinocchio/integrator-force-rk4.h
include/sot-dynamic-pinocchio/integrator-force.h
include/sot-dynamic-pinocchio/mass-apparent.h
include/sot-dynamic-pinocchio/matrix-inertia.h
include/sot-dynamic-pinocchio/waist-attitude-from-sensor.h
include/sot-dynamic-pinocchio/warning.hh
include/sot-dynamic-pinocchio/zmpreffromcom.h
lib/libsot-dynamic-pinocchio.so
lib/pkgconfig/sot-dynamic-pinocchio.pc
lib/plugin/dp-angle-estimator.so
lib/plugin/dp-angle-estimator.so.${PKGVERSION}
lib/plugin/dp-dynamic.so
lib/plugin/dp-dynamic.so.${PKGVERSION}
lib/plugin/dp-force-compensation.so
lib/plugin/dp-force-compensation.so.${PKGVERSION}
lib/plugin/dp-integrator-force-exact.so
lib/plugin/dp-integrator-force-exact.so.${PKGVERSION}
lib/plugin/dp-integrator-force-rk4.so
lib/plugin/dp-integrator-force-rk4.so.${PKGVERSION}
lib/plugin/dp-integrator-force.so
lib/plugin/dp-integrator-force.so.${PKGVERSION}
lib/plugin/dp-mass-apparent.so
lib/plugin/dp-mass-apparent.so.${PKGVERSION}
lib/plugin/dp-waist-attitude-from-sensor.so
lib/plugin/dp-waist-attitude-from-sensor.so.${PKGVERSION}
lib/plugin/dp-zmp-from-forces.so
lib/plugin/dp-zmp-from-forces.so.${PKGVERSION}
lib/plugin/dp-zmpreffromcom.so
lib/plugin/dp-zmpreffromcom.so.${PKGVERSION}
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/angle_estimator/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/angle_estimator/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/dynamic/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/dynamic/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/force_compensation/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/force_compensation/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/humanoid_robot.py
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/integrator_force/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/integrator_force/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/integrator_force_exact/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/integrator_force_exact/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/integrator_force_rk4/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/integrator_force_rk4/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/mass_apparent/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/mass_apparent/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/parser.py
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/tools.py
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/waist_attitude_from_sensor/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/waist_attitude_from_sensor/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/zmp_from_forces/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/zmp_from_forces/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/zmpreffromcom/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio/zmpreffromcom/wrap.so
${PYTHON_SITELIB}/dynamic_graph/tutorial/kine_romeo.py
${PYTHON_SITELIB}/dynamic_graph/tutorial/kine_romeo_small.py
......@@ -14,9 +14,8 @@ ifeq (+,$(SOT_DYNAMIC_PINOCCHIO_V3_DEPEND_MK)) # -------------------------------
PREFER.sot-dynamic-pinocchio-v3?= robotpkg
SYSTEM_SEARCH.sot-dynamic-pinocchio-v3=\
include/sot-dynamic/dynamic.h \
'lib/pkgconfig/sot-dynamic.pc:Version/s/[^0-9.]//gp' \
lib/plugin/dynamic.so
include/sot-dynamic-pinocchio/dynamic-pinocchio.h \
'lib/pkgconfig/sot-dynamic-pinocchio.pc:Version/s/[^0-9.]//gp'
DEPEND_USE+= sot-dynamic-pinocchio-v3
......
SHA1 (sot-dynamic-pinocchio-v3-3.1.1.tar.gz) = e715bffba1a6d2d973243862a6e473ca577fa1c8
RMD160 (sot-dynamic-pinocchio-v3-3.1.1.tar.gz) = beddcd9fae060cbf371b80075978e200da88a581
Size (sot-dynamic-pinocchio-v3-3.1.1.tar.gz) = 922041 bytes
SHA1 (patch-aa) = c57a914a6fc1140f348dec8c1cd2627c79a4de7d
SHA1 (patch-ab) = 70878ef8071dfce1eddb895b35e3cdb4942a848f
SHA1 (patch-ac) = deb468df72d57de00d079edfbec8725f292fd8b5
SHA1 (sot-dynamic-pinocchio-v3-3.1.3.tar.gz) = b917d547b2c66d27257ebf4eb29d292b6142cd93
RMD160 (sot-dynamic-pinocchio-v3-3.1.3.tar.gz) = a5019968c5e019dbdc52ca2f6847af987dccdbee
Size (sot-dynamic-pinocchio-v3-3.1.3.tar.gz) = 833935 bytes
diff --git src/python-module-py.cpp src/python-module-py.cpp
index b19e611..2525ae2 100644
--- src/python-module-py.cpp
+++ src/python-module-py.cpp
@@ -18,7 +18,7 @@
#include <boost/python.hpp>
#include <typeinfo>
#include <cstdio>
-#include <pinocchio/bindings/python/model.hpp>
+#include <pinocchio/bindings/python/multibody/model.hpp>
#include <pinocchio/bindings/python/data.hpp>
#include <pinocchio/bindings/python/handler.hpp>
diff --git src/python-module-py.cpp src/python-module-py.cpp
index 2525ae2..b0ed6d7 100644
--- src/python-module-py.cpp
+++ src/python-module-py.cpp
@@ -19,8 +19,8 @@
#include <typeinfo>
#include <cstdio>
#include <pinocchio/bindings/python/multibody/model.hpp>
-#include <pinocchio/bindings/python/data.hpp>
-#include <pinocchio/bindings/python/handler.hpp>
+#include <pinocchio/bindings/python/multibody/data.hpp>
+#include <pinocchio/bindings/python/utils/handler.hpp>
namespace dynamicgraph{
@@ -87,8 +87,8 @@ namespace dynamicgraph{
Dynamic* dyn_entity = (Dynamic*) pointer1;
try {
- se3::python::ModelHandler cppModelHandle =
- boost::python::extract<se3::python::ModelHandler>(pyPinocchioObject);
+ se3::python::Handler<se3::Model> cppModelHandle =
+ boost::python::extract< se3::python::Handler<se3::Model> >(pyPinocchioObject);
dyn_entity->setModel(cppModelHandle.ptr());
//dyn_entity->m_model = cppModelHandle.ptr();
}
@@ -127,8 +127,8 @@ namespace dynamicgraph{
Dynamic* dyn_entity = (Dynamic*) pointer1;
try {
- se3::python::DataHandler cppDataHandle =
- boost::python::extract<se3::python::DataHandler>(pyPinocchioObject);
+ se3::python::Handler<se3::Data> cppDataHandle =
+ boost::python::extract< se3::python::Handler<se3::Data> >(pyPinocchioObject);
dyn_entity->setData(cppDataHandle.ptr());
//dyn_entity->m_data = cppDataHandle.ptr();
}
--- src/python-module-py.cpp 2016-11-08 11:38:20.163431833 +0100
+++ src/python-module-py.cpp 2016-11-08 11:14:03.243064192 +0100
@@ -26,54 +26,11 @@
namespace dynamicgraph{
namespace sot{
- /* PyObject* getPinocchioModel(PyObject* // self
- ,PyObject* args) {
- PyObject* object = NULL;
- void* pointer = NULL;
-
- if (!PyArg_ParseTuple(args, "O", &object))
- return NULL;
-
- if (!PyCObject_Check(object)) {
- PyErr_SetString(PyExc_TypeError,
- "function takes a PyCObject as argument");
- return NULL;
- }
-
- pointer = PyCObject_AsVoidPtr(object);
- Dynamic* dyn_entity = (Dynamic*) pointer;
-
- se3::Model* model_ptr = NULL;
-
- try {
- model_ptr = dyn_entity->m_model;
- se3::python::ModelHandler& _model(& (dyn_entity->m_model));
- }
- catch (const std::exception& exc) {
- PyErr_SetString(dgpyError, exc.what());
- return NULL;
- }
- catch (const char* s) {
- PyErr_SetString(dgpyError, s);
- return NULL;
- }
- catch (...) {
- PyErr_SetString(dgpyError, "Unknown exception");
- return NULL;
- }
- //CATCH_ALL_EXCEPTIONS();
-
- // Return the pointer to the signal without destructor since the signal
- // is not owned by the calling object but by the Entity.
- //return boost::python::incref();
- return PyCObject_FromVoidPtr((void*)model_ptr, NULL);
- }
- */
-
PyObject* setPinocchioModel(PyObject* /* self */,PyObject* args) {
PyObject* object = NULL;
PyObject* pyPinocchioObject;
void* pointer1 = NULL;
+ se3::Model* pointer2 = NULL;
if (!PyArg_ParseTuple(args, "OO", &object, &pyPinocchioObject))
return NULL;
@@ -87,10 +44,9 @@
Dynamic* dyn_entity = (Dynamic*) pointer1;
try {
- se3::python::Handler<se3::Model> cppModelHandle =
- boost::python::extract< se3::python::Handler<se3::Model> >(pyPinocchioObject);
- dyn_entity->setModel(cppModelHandle.ptr());
- //dyn_entity->m_model = cppModelHandle.ptr();
+ boost::python::extract<se3::Model&> cppHandle(pyPinocchioObject);
+ pointer2 = (se3::Model*) &cppHandle();
+ dyn_entity->setModel(pointer2);
}
catch (const std::exception& exc) {
//PyErr_SetString(dgpyError, exc.what());
@@ -104,9 +60,7 @@
//PyErr_SetString(dgpyError, "Unknown exception");
return NULL;
}
- // Return the pointer to the signal without destructor since the signal
- // is not owned by the calling object but by the Entity.
- //return boost::python::incref();
+
return Py_BuildValue("");
}
@@ -114,6 +68,7 @@
PyObject* object = NULL;
PyObject* pyPinocchioObject;
void* pointer1 = NULL;
+ se3::Data* pointer2 = NULL;
if (!PyArg_ParseTuple(args, "OO", &object, &pyPinocchioObject))
return NULL;
@@ -127,10 +82,9 @@
Dynamic* dyn_entity = (Dynamic*) pointer1;
try {
- se3::python::Handler<se3::Data> cppDataHandle =
- boost::python::extract< se3::python::Handler<se3::Data> >(pyPinocchioObject);
- dyn_entity->setData(cppDataHandle.ptr());
- //dyn_entity->m_data = cppDataHandle.ptr();
+ boost::python::extract<se3::Data&> cppHandle(pyPinocchioObject);
+ pointer2 = (se3::Data*) &cppHandle();
+ dyn_entity->setData(pointer2);
}
catch (const std::exception& exc) {
// PyErr_SetString(dgpyError, exc.what());
@@ -144,9 +98,7 @@
// PyErr_SetString(dgpyError, "Unknown exception");
return NULL;
}
- // Return the pointer to the signal without destructor since the signal
- // is not owned by the calling object but by the Entity.
- //return boost::python::incref();
+
return Py_BuildValue("");
}
}
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