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Guilhem Saurel
hpp-rbprm-corba
Commits
ffb9f703
Commit
ffb9f703
authored
Aug 21, 2019
by
stevet
Browse files
updated doc according to review
parent
1a63e2c0
Changes
2
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idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
View file @
ffb9f703
...
...
@@ -154,10 +154,10 @@ module hpp
///
\
param
com
target
com
double
projectStateToCOM
(
in
unsigned
short
stateId
,
in
floatSeq
com
,
in
unsigned
short
max_num_sample
)
raises
(
Error
)
;
///
Project
a
state
into
a
COM
///
Clone
a
state
///
///
\
param
stateId
target
state
///
\
param
com
target
com
///
\
return
stateId
of
the
cloned
state
short
cloneState
(
in
unsigned
short
stateId
)
raises
(
Error
)
;
///
Project
a
state
into
a
given
root
position
and
orientation
...
...
@@ -266,7 +266,7 @@ module hpp
///
\
param
currentState
Id
of
the
considered
state
///
\
param
name
name
of
the
limb
used
to
create
a
contact
///
\
param
direction
desired
direction
of
motion
for
the
robot
///
\
return
transformed
configuration
for
which
all
possible
contacts
have
been
created
///
\
return
id
of
the
new
contact
state
if
successful
,
-
1
otherwise
short
generateContactState
(
in
unsigned
short
currentState
,
in
string
name
,
in
floatSeq
direction
)
raises
(
Error
)
;
///
get
Ids
of
limb
in
an
octree
cell
...
...
src/hpp/corbaserver/rbprm/tools/obj_to_constraints.py
View file @
ffb9f703
...
...
@@ -58,6 +58,7 @@ def find_point_on_plane(a,b,c,d):
#Create an Inequalities object given the inequalities matrices A,b, s.t. Ax <=b
def
inequalities_to_Inequalities_object
(
A
,
b
):
nrows
=
A
.
shape
[
0
]
V
=
np
.
ones
([
nrows
,
4
])
...
...
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