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Guilhem Saurel
hpp-rbprm-corba
Commits
24fcf3b9
Commit
24fcf3b9
authored
Mar 26, 2020
by
Pierre Fernbach
Browse files
[Tools] surface from path: use the limbs name defined in the rbprmBuilder
parent
befc262c
Changes
1
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Inline
Side-by-side
src/hpp/corbaserver/rbprm/tools/surfaces_from_path.py
View file @
24fcf3b9
...
...
@@ -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
...
...
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