Commit aa1fa128 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

sampleId in fullBody are now int instead of short (as already done in addLimb)

parent ceaee6d5
......@@ -161,7 +161,7 @@ module hpp
/// \param sampleId id of the desired samples
/// \return dofArray Array of degrees of freedom corresponding to the current configuration of the robot
/// , to which the desired limb configuration has been assigned.
floatSeq getSampleConfig(in string sampleName, in unsigned short sampleId) raises (Error);
floatSeq getSampleConfig(in string sampleName, in unsigned long sampleId) raises (Error);
/// Get the end effector position of a given limb configuration
......@@ -169,7 +169,7 @@ module hpp
/// \param sampleId id of the desired samples
/// \return world position of the limb end effector given the current robot configuration and the
/// and the selected sample
floatSeq getSamplePosition(in string sampleName, in unsigned short sampleId) raises (Error);
floatSeq getSamplePosition(in string sampleName, in unsigned long sampleId) raises (Error);
/// Get the end effector position for a given configuration, assuming z normal
/// \param limbName name of the limb from which to retrieve a sample
......@@ -193,7 +193,7 @@ module hpp
/// \param valueName name of the analytic measure desired
/// \param sampleId id of the considered sample
/// \return the value computed for the given sample and analytics
double getSampleValue(in string limbName, in string valueName, in unsigned short sampleId) raises (Error);
double getSampleValue(in string limbName, in string valueName, in unsigned long sampleId) raises (Error);
/// compute the distance between all effectors replaced between two states
/// does not account for contact not present in both states
......
......@@ -217,7 +217,7 @@ namespace hpp {
analysisFactory_ = new sampling::AnalysisFactory(fullBody());
}
hpp::floatSeq* RbprmBuilder::getSampleConfig(const char* limb, unsigned short sampleId) throw (hpp::Error)
hpp::floatSeq* RbprmBuilder::getSampleConfig(const char* limb, unsigned int sampleId) throw (hpp::Error)
{
if(!fullBodyLoaded_)
throw Error ("No full body robot was loaded");
......@@ -246,7 +246,7 @@ namespace hpp {
}
hpp::floatSeq* RbprmBuilder::getSamplePosition(const char* limb, unsigned short sampleId) throw (hpp::Error)
hpp::floatSeq* RbprmBuilder::getSamplePosition(const char* limb, unsigned int sampleId) throw (hpp::Error)
{
if(!fullBodyLoaded_)
throw Error ("No full body robot was loaded");
......@@ -553,7 +553,7 @@ namespace hpp {
return dofArray;
}
double RbprmBuilder::getSampleValue(const char* limb, const char* valueName, unsigned short sampleId) throw (hpp::Error)
double RbprmBuilder::getSampleValue(const char* limb, const char* valueName, unsigned int sampleId) throw (hpp::Error)
{
const T_Limb& limbs = fullBody()->GetLimbs();
T_Limb::const_iterator lit = limbs.find(std::string(limb));
......
......@@ -213,12 +213,12 @@ namespace hpp {
virtual void boundSO3(const hpp::floatSeq& limitszyx) throw (hpp::Error);
virtual hpp::floatSeq* getSampleConfig(const char* limb, unsigned short sampleId) throw (hpp::Error);
virtual hpp::floatSeq* getSamplePosition(const char* limb, unsigned short sampleId) throw (hpp::Error);
virtual hpp::floatSeq* getSampleConfig(const char* limb, unsigned int sampleId) throw (hpp::Error);
virtual hpp::floatSeq* getSamplePosition(const char* limb, unsigned int sampleId) throw (hpp::Error);
virtual hpp::floatSeqSeq* getEffectorPosition(const char* limb, const hpp::floatSeq& configuration) throw (hpp::Error);
virtual CORBA::UShort getNumSamples(const char* limb) throw (hpp::Error);
virtual hpp::floatSeq* getOctreeNodeIds(const char* limb) throw (hpp::Error);
virtual double getSampleValue(const char* limb, const char* valueName, unsigned short sampleId) throw (hpp::Error);
virtual double getSampleValue(const char* limb, const char* valueName, unsigned int sampleId) throw (hpp::Error);
virtual double getEffectorDistance(unsigned short state1, unsigned short state2) throw (hpp::Error);
rbprm::State generateContacts_internal(const hpp::floatSeq& configuration,
......
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