Unverified Commit f9c3a8d5 authored by stonneau's avatar stonneau Committed by GitHub
Browse files

Merge pull request #28 from pFernbach/topic/posture_weights

add API for posture weights
parents ef97abba 76ef67fc
......@@ -106,6 +106,10 @@ module hpp
void setReferenceConfig(in floatSeq referenceConfig)
raises (Error);
/// set the weights used when computing a postural task
void setPostureWeights(in floatSeq postureWeights)
raises (Error);
/// set a reference position of the end effector for the given ROM
void setReferenceEndEffector(in string romName, in floatSeq ref)
raises (Error);
......
......@@ -843,6 +843,11 @@ class FullBody (Robot):
def setReferenceConfig(self,referenceConfig):
return self.clientRbprm.rbprm.setReferenceConfig(referenceConfig)
## set the weights used when computing a postural task
# \param postureWeights dofArray, must be of same size as device->numberDof
def setPostureWeights(self,postureWeights):
return self.clientRbprm.rbprm.setPostureWeights(postureWeights)
## 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):
......
......@@ -633,6 +633,13 @@ namespace hpp {
fullBody()->referenceConfig(config);
}
void RbprmBuilder::setPostureWeights(const hpp::floatSeq& postureWeights) throw (hpp::Error){
if(!fullBodyLoaded_)
throw Error ("No full body robot was loaded");
Configuration_t config(dofArrayToConfig (fullBody()->device_->numberDof(), postureWeights));
fullBody()->postureWeights(config);
}
void RbprmBuilder::setReferenceEndEffector(const char* romName, const hpp::floatSeq &ref) throw(hpp::Error){
std::string name (romName);
hpp::pinocchio::RbPrmDevicePtr_t device = boost::dynamic_pointer_cast<hpp::pinocchio::RbPrmDevice>(problemSolver()->robot ());
......
......@@ -196,6 +196,7 @@ namespace hpp {
void setStaticStability(const bool staticStability) throw (hpp::Error);
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);
virtual void setFilter(const hpp::Names_t& roms) throw (hpp::Error);
......
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