Merge pull request #25 from proyan/master

[python] DynamicPinocchio is the new (plugin/module name) being generated

src/dynamic_graph/sot/dynamics_pinocchio/__init__.py

-from dynamic import Dynamic as DynamicOld
+from dynamic import DynamicPinocchio as DynamicCpp
 from angle_estimator import AngleEstimator
 from zmp_from_forces import ZmpFromForces
 import numpy as np
@@ -6,9 +6,9 @@ from numpy import arctan2, arcsin, sin, cos, sqrt
 
 #DynamicOld = Dynamic
 
-class Dynamic (DynamicOld):
+class DynamicPinocchio (DynamicCpp):
     def __init__(self, name):
-        DynamicOld.__init__(self, name)
+        DynamicCpp.__init__(self, name)
         self.model = None
         self.data = None
 

src/dynamic_graph/sot/dynamics_pinocchio/humanoid_robot.py

@@ -376,7 +376,7 @@ class AbstractHumanoidRobot (object):
             self.dynamic.signal(self.OperationalPointsMap[op]).recompute(self.device.state.time+1)
             self.dynamic.signal('J'+self.OperationalPointsMap[op]).recompute(self.device.state.time+1)
 
-from dynamic_graph.sot.dynamics import Dynamic
+from dynamic_graph.sot.dynamics_pinocchio import DynamicPinocchio
 class HumanoidRobot(AbstractHumanoidRobot):
     def __init__(self, name, pinocchio_model, pinocchio_data, initialConfig, OperationalPointsMap = None, tracer = None):
         AbstractHumanoidRobot.__init__(self, name, tracer)
@@ -385,7 +385,7 @@ class HumanoidRobot(AbstractHumanoidRobot):
         self.OperationalPoints.append('chest')
         self.OperationalPointsMap = OperationalPointsMap
 
-        self.dynamic = Dynamic(self.name + "_dynamic")
+        self.dynamic = DynamicPinocchio(self.name + "_dynamic")
         self.dynamic.setModel(pinocchio_model)
         self.dynamic.setData(pinocchio_data)
         self.dimension = self.dynamic.getDimension()

src/dynamic_graph/sot/dynamics_pinocchio/parser.py

@@ -7,7 +7,7 @@
 #
 
 import xml.dom.minidom as dom
-from dynamic_graph.sot.dynamics_pinocchio.dynamic import Dynamic
+from dynamic_graph.sot.dynamics_pinocchio.dynamic import DynamicPinocchio
 from dynamic_graph.sot.tools.se3 import SE3, R3, SO3
 
 class Parser (object):
@@ -56,7 +56,7 @@ class Parser (object):
     robotTag = "HPP_HUMANOID_ROBOT"
 
     def __init__(self, entityName, filename):
-        self.entity = Dynamic(entityName)
+        self.entity = DynamicPinocchio(entityName)
         self.filename = filename
 
     def parse (self):