Unverified Commit ad81b0aa authored by Joseph Mirabel's avatar Joseph Mirabel Committed by GitHub
Browse files

Merge pull request #11 from jmirabel/devel

Update to pinocchio v2 + add plugin
parents 87c6cf0a e055403a
Pipeline #3638 passed with stage
in 7 minutes and 7 seconds
......@@ -42,6 +42,8 @@ SET(CXX_DISABLE_WERROR 1)
SETUP_HPP_PROJECT()
LIST(APPEND PKG_CONFIG_ADDITIONAL_VARIABLES cmake_plugin)
IF(RUN_TESTS)
SET(BOOST_COMPONENTS "unit_test_framework")
ENDIF(RUN_TESTS)
......@@ -52,6 +54,7 @@ ADD_REQUIRED_DEPENDENCY("hpp-core >= 4")
ADD_REQUIRED_DEPENDENCY("hpp-walkgen")
ADD_SUBDIRECTORY(src)
ADD_SUBDIRECTORY(plugins)
IF(RUN_TESTS)
ADD_REQUIRED_DEPENDENCY("romeo_description")
ADD_SUBDIRECTORY(tests)
......
# Copyright (c) 2019, Joseph Mirabel
# Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
#
# This file is part of hpp-wholebody-step.
# hpp-wholebody-step is free software: you can redistribute it
# and/or modify it under the terms of the GNU Lesser General Public
# License as published by the Free Software Foundation, either version
# 3 of the License, or (at your option) any later version.
#
# hpp-wholebody-step is distributed in the hope that it will be
# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# General Lesser Public License for more details. You should have
# received a copy of the GNU Lesser General Public License along with
# hpp-wholebody-step. If not, see <http://www.gnu.org/licenses/>.
INCLUDE(${HPP_CORE_CMAKE_PLUGIN})
ADD_PLUGIN(wholebody-step
SOURCES wholebody-step.cc
LINK_DEPENDENCIES ${PROJECT_NAME}
PKG_CONFIG_DEPENDENCIES hpp-core hpp-walkgen)
// Copyright (c) 2019, Joseph Mirabel
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//
// This file is part of hpp-wholebody-step.
// hpp-wholebody-step is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// hpp-wholebody-step is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// hpp-wholebody-step. If not, see <http://www.gnu.org/licenses/>.
#include <hpp/core/plugin.hh>
#include <hpp/core/problem-solver.hh>
#include <hpp/wholebody-step/small-steps.hh>
namespace hpp {
namespace wholebodyStep {
class WholebodyStepPlugin : public core::ProblemSolverPlugin
{
public:
WholebodyStepPlugin ()
: ProblemSolverPlugin ("WholebodyStepPlugin", "0.0")
{}
protected:
virtual bool impl_initialize (core::ProblemSolverPtr_t ps)
{
ps->pathOptimizers.add ("Walkgen", SmallSteps::create);
return true;
}
};
} // namespace wholebodyStep
} // namespace hpp
HPP_CORE_DEFINE_PLUGIN(hpp::wholebodyStep::WholebodyStepPlugin)
......@@ -33,7 +33,7 @@
namespace hpp {
namespace wholebodyStep {
namespace {
using se3::SE3;
using pinocchio::SE3;
static vector3_t zero (vector3_t::Zero());
static matrix3_t I3 (matrix3_t::Identity());
static SE3 MId (SE3::Identity());
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment