Reduce initializations in prologue

  Application dependent initialization have been moved to a new package called
  sot-application.

src/CMakeLists.txt

@@ -59,7 +59,6 @@ SET(PYTHON_MODULE_BUILD_DIR
 SET(PYTHON_MODULE dynamic_graph/sot/hrp2)
 PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "__init__.py" )
 PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "hrp2.py" )
-PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "prologue.py" )
 SET(FILES __init__.py robot.py)
 
 # Install dynamic_graph.sot.hrp2_14

src/dynamic_graph/sot/hrp2/prologue.py

-# -*- coding: utf-8 -*-
-# Copyright 2011, Florent Lamiraux, Thomas Moulard, Olivier Stasse, JRL, CNRS/AIST
-#
-# This file is part of dynamic-graph.
-# dynamic-graph 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.
-#
-# dynamic-graph 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
-# dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
-print("Prologue HRP-2")
-
-from dynamic_graph import plug
-from dynamic_graph.entity import PyEntityFactoryClass
-from dynamic_graph.sot.dynamics.solver import Solver
-
-def prologue_hrp2(robot,device):
-
-    # Initialize the zmp signal to the current com.
-    _com = robot.dynamic.com.value
-    robot.device.zmp.value = (_com[0], _com[1], 0.)
-
-    # Create a solver.
-    solver = Solver(robot)
-
-    # Make sure com and feet desired positions match the current
-    # positions.
-    s = ['left-ankle', 'right-ankle']
-    for i in s:
-        robot.dynamic.signal(i).recompute(robot.dynamic.signal(i).time + 1)
-        robot.features[i].reference.value = \
-        robot.dynamic.signal(i).value
-        robot.features[i]._feature.selec.value = '111111'
-        robot.tasks[i].controlGain.value = 1.
-
-    robot.comRef.value = robot.dynamic.com.value
-    robot.tasks ['com'].controlGain.value = 1.
-
-    # Push com and feet tasks.
-    #
-    # The robot is currently in half-sitting, so this script freezes com
-    # and feet position so that the robot will remain stable while the
-    # user program is starting.
-    solver.push(robot.comTask)
-    for i in s:
-        solver.push(robot.tasks[i])
-
-        print("Prologue ran successfully.")
-
-    # Make sure only robot and solver are visible from the outside.
-    return solver
-
-
-####################################
-#        --- IMPORTANT ---         #
-#                                  #
-# THIS FILE MUST NEVER BE CHANGED. #
-# TO RUN YOUR EXPERIMENT, PLEASE   #
-# WRITE A SEPARATE PYTHON MODULE   #
-# AND LAUNCH IT USING dg-remote!   #
-####################################

src/dynamic_graph/sot/hrp2_10/prologue.py

@@ -15,8 +15,7 @@
 # dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
 print("Prologue HRP2-10")
 
-from dynamic_graph.sot.hrp2_10.robot import *
-from dynamic_graph.sot.hrp2.prologue import *
+from dynamic_graph.sot.hrp2_10.robot import Robot
 
 # Create the device.
 # This entity behaves exactly like robotsimu except:
@@ -24,14 +23,14 @@ from dynamic_graph.sot.hrp2.prologue import *
 # 2. it forwards the robot control to the sot-abstract
 #    controller.
 Device = PyEntityFactoryClass('Device')
-# Create instance for HRP2JRL
-device=Device('HRP2JRL')
 
 # Create the robot using the device.
-robot = Robot(name = 'robot', device = device)
+robot = Robot(name = 'robot', device = Device('HRP2JRL'))
 
-solver = prologue_hrp2(robot,device)
-__all__ = ["robot","solver"]
+_com = robot.dynamic.com.value
+robot.device.zmp.value = (_com[0], _com[1], 0.)
+
+__all__ = ["robot"]
 
 ####################################
 #        --- IMPORTANT ---         #

src/dynamic_graph/sot/hrp2_14/prologue.py

@@ -15,8 +15,8 @@
 # dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
 print("Prologue HRP2-14")
 
-from dynamic_graph.sot.hrp2_14.robot import *
-from dynamic_graph.sot.hrp2.prologue import *
+from dynamic_graph.entity import PyEntityFactoryClass
+from dynamic_graph.sot.hrp2_14.robot import Robot
 
 # Create the device.
 # This entity behaves exactly like robotsimu except:
@@ -24,14 +24,15 @@ from dynamic_graph.sot.hrp2.prologue import *
 # 2. it forwards the robot control to the sot-abstract
 #    controller.
 Device = PyEntityFactoryClass('Device')
-# Create instance for HRP2JRL
-device=Device('HRP2LAAS')
 
 # Create the robot using the device.
-robot = Robot(name = 'robot', device = device)
+robot = Robot(name = 'robot', device = Device('HRP2LAAS'))
 
-solver = prologue_hrp2(robot,device)
-__all__ = ["robot","solver"]
+robot.dynamic.com.recompute (0)
+_com = robot.dynamic.com.value
+robot.device.zmp.value = (_com[0], _com[1], 0.)
+
+__all__ = ["robot"]
 
 ####################################
 #        --- IMPORTANT ---         #

src/sot-hrp2-14-controller.cpp

@@ -35,7 +35,7 @@ void SoTHRP2_14_Controller::startupPython()
   std::ofstream aof(LOG_PYTHON_14.c_str());
   runPython
     (aof,
-     "from dynamic_graph.sot.hrp2_14.prologue import robot, solver",
+     "from dynamic_graph.sot.hrp2_14.prologue import robot",
      *interpreter_);
   aof.close();
 }