Commit ad74f0e0 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[python api] add API for fullBody param 'usePosturalTaskContactCreation'

parent efbbffce
......@@ -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);
......
......@@ -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):
......
......@@ -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)
{
......
......@@ -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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