Unverified Commit 6aed5bec authored by Guilhem Saurel's avatar Guilhem Saurel Committed by GitHub
Browse files

Merge pull request #81 from nim65s/devel

curves → ndcurves
parents 08526a8b 98126ad1
from curves import bezier, polynomial
from numpy import matrix from numpy import matrix
from numpy.linalg import norm
from ndcurves import bezier, polynomial
def displayBezierCurve(r,curve,step=0.001,color=[0.85, 0.75, 0.15, 1.0],name=None,offset = None): def displayBezierCurve(r,curve,step=0.001,color=[0.85, 0.75, 0.15, 1.0],name=None,offset = None):
if name==None: if name is None:
name="bezier_curve" name="bezier_curve"
list = r.client.gui.getNodeList() list = r.client.gui.getNodeList()
i=0 i=0
......
...@@ -16,10 +16,11 @@ ...@@ -16,10 +16,11 @@
# hpp-manipulation-corba. If not, see # hpp-manipulation-corba. If not, see
# <http://www.gnu.org/licenses/>. # <http://www.gnu.org/licenses/>.
from numpy import array, matrix
from hpp.corbaserver.rbprm import Client as RbprmClient from hpp.corbaserver.rbprm import Client as RbprmClient
from hpp.corbaserver.robot import Robot from hpp.corbaserver.robot import Robot
from curves import bezier from ndcurves import bezier
from numpy import array, matrix
# # Load and handle a RbprmFullbody robot for rbprm planning # # Load and handle a RbprmFullbody robot for rbprm planning
...@@ -31,7 +32,7 @@ class FullBody(Robot): ...@@ -31,7 +32,7 @@ class FullBody(Robot):
def __init__(self, robotName = None, rootJointType = None, load = True, client = None, hppcorbaClient = None, clientRbprm=None): def __init__(self, robotName = None, rootJointType = None, load = True, client = None, hppcorbaClient = None, clientRbprm=None):
Robot.__init__(self, robotName, rootJointType, False, client, hppcorbaClient) Robot.__init__(self, robotName, rootJointType, False, client, hppcorbaClient)
self.tf_root = "base_link" self.tf_root = "base_link"
if clientRbprm == None: if clientRbprm is None:
self.clientRbprm = RbprmClient() self.clientRbprm = RbprmClient()
else: else:
self.clientRbprm = clientRbprm self.clientRbprm = clientRbprm
......
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