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Guilhem Saurel
hpp-rbprm-corba
Commits
b4569bdf
Commit
b4569bdf
authored
Jul 24, 2019
by
Pierre Fernbach
Browse files
Update declaration of problemParameter FullBody/frictionCoefficient
parent
b4cc8c8a
Changes
1
Hide whitespace changes
Inline
Side-by-side
src/rbprmbuilder.impl.cc
View file @
b4569bdf
...
...
@@ -170,13 +170,9 @@ namespace hpp {
fullBodyMap_
.
selected_
=
name
;
if
(
problemSolver
()){
if
(
problemSolver
()
->
problem
()){
try
{
double
mu
=
problemSolver
()
->
problem
()
->
getParameter
(
"friction"
).
floatValue
();
fullBody
()
->
setFriction
(
mu
);
hppDout
(
notice
,
"fullbody : mu define in python : "
<<
fullBody
()
->
getFriction
());
}
catch
(
const
std
::
exception
&
e
)
{
hppDout
(
notice
,
"fullbody : mu not defined, take : "
<<
fullBody
()
->
getFriction
()
<<
" as default."
);
}
double
mu
=
problemSolver
()
->
problem
()
->
getParameter
(
"FullBody/frictionCoefficient"
).
floatValue
();
fullBody
()
->
setFriction
(
mu
);
hppDout
(
notice
,
"fullbody : friction coefficient used : "
<<
fullBody
()
->
getFriction
());
}
else
{
hppDout
(
warning
,
"No instance of problem while initializing fullBody"
);
}
...
...
@@ -3483,6 +3479,13 @@ namespace hpp {
return
new
hpp
::
floatSeq
();
}
HPP_START_PARAMETER_DECLARATION
(
FullBody
)
Problem
::
declareParameter
(
core
::
ParameterDescription
(
core
::
Parameter
::
FLOAT
,
"FullBody/frictionCoefficient"
,
"The coefficient of friction used between the robot and the environment."
,
core
::
Parameter
(
0.5
)));
HPP_END_PARAMETER_DECLARATION
(
FullBody
)
}
// namespace impl
}
// namespace rbprm
...
...
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