Commit 477c1a14 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

packaging

parent 2674e80b
......@@ -24,9 +24,10 @@ INCLUDE(cmake/base.cmake)
INCLUDE(cmake/idl.cmake)
INCLUDE(cmake/python.cmake)
SET(PROJECT_ORG humanoid-path-planner)
SET(PROJECT_NAME hpp-rbprm-corba)
SET(PROJECT_DESCRIPTION "Corba server for reachability based planning")
SET(PROJECT_URL "")
SET(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
# Set to 1 for profiling
#add_definitions(-DPROFILE)
......@@ -45,9 +46,9 @@ IF (HPP_DEBUG)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DHPP_DEBUG")
ENDIF()
ADD_DOC_DEPENDENCY("hpp-core >= 4.2")
ADD_REQUIRED_DEPENDENCY("hpp-corbaserver >= 4.2")
ADD_REQUIRED_DEPENDENCY("hpp-rbprm")
ADD_DOC_DEPENDENCY("hpp-core >= 4.3")
ADD_REQUIRED_DEPENDENCY("hpp-corbaserver >= 4.3")
ADD_REQUIRED_DEPENDENCY("hpp-rbprm >= 4.3")
ADD_REQUIRED_DEPENDENCY("omniORB4 >= 4.1.4")
ADD_REQUIRED_DEPENDENCY("hpp-affordance-corba")
ADD_REQUIRED_DEPENDENCY("hpp-util >= 3")
......@@ -101,6 +102,5 @@ install(DIRECTORY
#~ install(DIRECTORY data/hyq_description
#~ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/../
#~ )
SETUP_PROJECT_FINALIZE()
SETUP_PROJECT_FINALIZE()
......@@ -43,8 +43,8 @@
#include <hpp/rbprm/planner/rbprm-steering-kinodynamic.hh>
#include <algorithm> // std::random_shuffle
#include <hpp/rbprm/interpolation/time-constraint-helper.hh>
#include "spline/bezier_curve.h"
#include "hpp/rbprm/interpolation/polynom-trajectory.hh"
#include <hpp/spline/bezier_curve.h>
#include <hpp/rbprm/interpolation/polynom-trajectory.hh>
#include <hpp/rbprm/planner/random-shortcut-dynamic.hh>
#include <hpp/rbprm/planner/oriented-path-optimizer.hh>
#include <hpp/rbprm/sampling/heuristic-tools.hh>
......@@ -1256,7 +1256,7 @@ namespace hpp {
state.contactNormals_[*cit] = z;
state.contacts_[*cit] = true;
state.contactOrder_.push(*cit);
}
}
state.nbContacts = state.contactNormals_.size() ;
state.configuration_ = config;
state.robustness = stability::IsStable(fullBody,state);
......@@ -2149,7 +2149,7 @@ namespace hpp {
throw hpp::Error ("No affordances found. Unable to interpolate.");
}
hpp::rbprm::interpolation::RbPrmInterpolationPtr_t interpolator =
hpp::rbprm::interpolation::RbPrmInterpolationPtr_t interpolator =
rbprm::interpolation::RbPrmInterpolation::create(fullBody(),startState_,endState_,problemSolver()->paths()[pathId],testReachability,quasiStatic);
lastStatesComputedTime_ = interpolator->Interpolate(affMap, bindShooter_.affFilter_,
timestep,robustnessTreshold, filterStates != 0);
......@@ -2251,7 +2251,7 @@ namespace hpp {
CORBA::Short RbprmBuilder::comRRT(unsigned short s1, unsigned short s2, unsigned short path, unsigned short numOptimizations) throw (hpp::Error)
{
try
{
{
// temp
assert(s2 == s1 +1);
if(lastStatesComputed_.size () < s1 || lastStatesComputed_.size () < s2 )
......@@ -2351,7 +2351,7 @@ namespace hpp {
core::PathVectorPtr_t resPath = core::PathVector::create(fullBody()->device_->configSize(), fullBody()->device_->numberDof());
hppDout(notice,"ComRRT : projections done. begin rrt");
try{
hppDout(notice,"begin comRRT states 1 and 1bis");
hppDout(notice,"begin comRRT states 1 and 1bis");
hppDout(notice,"state1 = r(["<<pinocchio::displayConfig(state1.configuration_)<<"])");
hppDout(notice,"state1 bis = r(["<<pinocchio::displayConfig(s1Bis.configuration_)<<"])");
core::PathPtr_t p1 = interpolation::comRRT(fullBody(),problemSolver()->problem(), paths[cT1],
......
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