[Tools] surface from path: use the limbs name defined in the rbprmBuilder

24fcf3b9 · Pierre Fernbach · befc262c · 24fcf3b9
Commit 24fcf3b9 authored Mar 26, 2020 by Pierre Fernbach
Hide whitespace changes
Inline Side-by-side

Showing with 4 additions and 4 deletions

src/hpp/corbaserver/rbprm/tools/surfaces_from_path.py src/hpp/corbaserver/rbprm/tools/surfaces_from_path.py +4 -4

No files found.
--- a/src/hpp/corbaserver/rbprm/tools/surfaces_from_path.py
+++ b/src/hpp/corbaserver/rbprm/tools/surfaces_from_path.py
@@ -66,18 +66,18 @@ def getRotationMatrixFromConfigs(configs):
 # get contacted surface names at configuration
 def getContactsNames(rbprmBuilder, i, q):
    if i % 2 == LF:  # left leg
-        step_contacts = rbprmBuilder.clientRbprm.rbprm.getCollidingObstacleAtConfig(q, ROBOT_NAME + '_lleg_rom')
+        step_contacts = rbprmBuilder.clientRbprm.rbprm.getCollidingObstacleAtConfig(q, rbprmBuilder.lLegId)
    elif i % 2 == RF:  # right leg
-        step_contacts = rbprmBuilder.clientRbprm.rbprm.getCollidingObstacleAtConfig(q, ROBOT_NAME + '_rleg_rom')
+        step_contacts = rbprmBuilder.clientRbprm.rbprm.getCollidingObstacleAtConfig(q, rbprmBuilder.rLegId)
    return step_contacts


 # get intersections with the rom and surface at configuration
 def getContactsIntersections(rbprmBuilder, i, q):
    if i % 2 == LF:  # left leg
-        intersections = rbprmBuilder.getContactSurfacesAtConfig(q, ROBOT_NAME + '_lleg_rom')
+        intersections = rbprmBuilder.getContactSurfacesAtConfig(q, rbprmBuilder.lLegId)
    elif i % 2 == RF:  # right leg
-        intersections = rbprmBuilder.getContactSurfacesAtConfig(q, ROBOT_NAME + '_rleg_rom')
+        intersections = rbprmBuilder.getContactSurfacesAtConfig(q, rbprmBuilder.rLegId)
    return intersections