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Guilhem Saurel
hpp-rbprm-corba
Commits
ad74f0e0
Commit
ad74f0e0
authored
Apr 28, 2019
by
Pierre Fernbach
Browse files
[python api] add API for fullBody param 'usePosturalTaskContactCreation'
parent
efbbffce
Changes
4
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idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
View file @
ad74f0e0
...
...
@@ -110,6 +110,10 @@ module hpp
void setPostureWeights(in floatSeq postureWeights)
raises (Error);
/// If true, optimize the orientation of all the newly created contact using a postural task
void usePosturalTaskContactCreation(in boolean use)
raises (Error);
/// set a reference position of the end effector for the given ROM
void setReferenceEndEffector(in string romName, in floatSeq ref)
raises (Error);
...
...
src/hpp/corbaserver/rbprm/rbprmfullbody.py
View file @
ad74f0e0
...
...
@@ -875,6 +875,11 @@ class FullBody (Robot):
def
setPostureWeights
(
self
,
postureWeights
):
return
self
.
clientRbprm
.
rbprm
.
setPostureWeights
(
postureWeights
)
## If true, optimize the orientation of all the newly created contact using a postural task
# \param use bool
def
usePosturalTaskContactCreation
(
self
,
use
):
return
self
.
clientRbprm
.
rbprm
.
usePosturalTaskContactCreation
(
use
)
## return the time at the given state index (in the path computed during the first phase)
# \param stateId : index of the state
def
getTimeAtState
(
self
,
stateId
):
...
...
src/rbprmbuilder.impl.cc
View file @
ad74f0e0
...
...
@@ -651,7 +651,11 @@ namespace hpp {
device
->
setEffectorReference
(
name
,
config
);
}
void
RbprmBuilder
::
usePosturalTaskContactCreation
(
const
bool
usePosturalTaskContactCreation
)
throw
(
hpp
::
Error
){
if
(
!
fullBodyLoaded_
)
throw
Error
(
"No full body robot was loaded"
);
fullBody
()
->
usePosturalTaskContactCreation
(
usePosturalTaskContactCreation
);
}
void
RbprmBuilder
::
setFilter
(
const
hpp
::
Names_t
&
roms
)
throw
(
hpp
::
Error
)
{
...
...
src/rbprmbuilder.impl.hh
View file @
ad74f0e0
...
...
@@ -198,6 +198,7 @@ namespace hpp {
void
setReferenceConfig
(
const
hpp
::
floatSeq
&
referenceConfig
)
throw
(
hpp
::
Error
);
void
setPostureWeights
(
const
hpp
::
floatSeq
&
postureWeights
)
throw
(
hpp
::
Error
);
void
setReferenceEndEffector
(
const
char
*
romName
,
const
hpp
::
floatSeq
&
ref
)
throw
(
hpp
::
Error
);
void
usePosturalTaskContactCreation
(
const
bool
usePosturalTaskContactCreation
)
throw
(
hpp
::
Error
);
virtual
void
setFilter
(
const
hpp
::
Names_t
&
roms
)
throw
(
hpp
::
Error
);
virtual
void
setAffordanceFilter
(
const
char
*
romName
,
const
hpp
::
Names_t
&
affordances
)
throw
(
hpp
::
Error
);
...
...
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