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Guilhem Saurel
hpp-rbprm-corba
Commits
b31d80aa
Commit
b31d80aa
authored
Oct 09, 2020
by
Steve T
Browse files
updated addNewContact api
parent
2ecd7a4d
Changes
1
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Inline
Side-by-side
src/hpp/corbaserver/rbprm/state_alg.py
View file @
b31d80aa
...
...
@@ -86,8 +86,8 @@ def computeIntermediateState(sfrom, sto):
# \param p 3d position of the point
# \param n 3d normal of the contact location center
# \return (State, success) whether the creation was successful, as well as the new state
def
addNewContact
(
state
,
limbName
,
p
,
n
,
num_max_sample
=
0
,
lockOtherJoints
=
False
):
sId
=
state
.
cl
.
addNewContact
(
state
.
sId
,
limbName
,
p
,
n
,
num_max_sample
,
lockOtherJoints
)
def
addNewContact
(
state
,
limbName
,
p
,
n
,
num_max_sample
=
0
,
lockOtherJoints
=
False
,
rotation
=
[
0
for
_
in
range
(
4
)]
):
sId
=
state
.
cl
.
addNewContact
(
state
.
sId
,
limbName
,
p
,
n
,
num_max_sample
,
lockOtherJoints
,
rotation
)
if
(
sId
!=
-
1
):
return
State
(
state
.
fullBody
,
sId
=
sId
),
True
return
state
,
False
...
...
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