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Guilhem Saurel
sot-hrp2
Commits
6ec2f2a1
Commit
6ec2f2a1
authored
Dec 10, 2014
by
olivier stasse
Browse files
Merge pull request #9 from andreadelprete/fix_indentation
Fix indentation
parents
c3122074
f306ba9c
Changes
3
Hide whitespace changes
Inline
Side-by-side
src/CMakeLists.txt
View file @
6ec2f2a1
...
...
@@ -73,14 +73,47 @@ PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "__init__.py" )
PYTHON_INSTALL_BUILD
(
"
${
PYTHON_MODULE
}
"
"robot.py"
"
${
PYTHON_SITELIB
}
"
)
PYTHON_INSTALL_ON_SITE
(
"
${
PYTHON_MODULE
}
"
"prologue.py"
)
# Add the library to wrap the controller of HRP2-JRL.
# Add the library to wrap the device of HRP2.
MACRO
(
build_hrp2_device
)
SET
(
DEVICE_NAME sot-hrp2-device
)
ADD_LIBRARY
(
${
DEVICE_NAME
}
SHARED
sot-hrp2-device.cpp
)
# Link the dynamic library containing the SoT with its dependencies.
PKG_CONFIG_USE_DEPENDENCY
(
${
DEVICE_NAME
}
"dynamic-graph"
)
PKG_CONFIG_USE_DEPENDENCY
(
${
DEVICE_NAME
}
"dynamic-graph-python"
)
PKG_CONFIG_USE_DEPENDENCY
(
${
DEVICE_NAME
}
"sot-core"
)
ROSPACK_USE_DEPENDENCY
(
${
DEVICE_NAME
}
"dynamic_graph_bridge"
)
IF
(
UNIX AND NOT APPLE
)
TARGET_LINK_LIBRARIES
(
${
DEVICE_NAME
}
${
Boost_LIBRARIES
}
)
ENDIF
(
UNIX AND NOT APPLE
)
INSTALL
(
TARGETS
${
DEVICE_NAME
}
DESTINATION
${
CMAKE_INSTALL_LIBDIR
}
)
# build python submodule
STRING
(
REPLACE - _ PYTHON_LIBRARY_NAME
${
DEVICE_NAME
}
)
SET
(
NEW_ENTITY_CLASS
${
ENTITIES
}
)
DYNAMIC_GRAPH_PYTHON_MODULE
(
"sot/hrp2/
${
PYTHON_LIBRARY_NAME
}
"
${
DEVICE_NAME
}
sot-hrp2-
${
PYTHON_LIBRARY_NAME
}
-wrap
)
ENDMACRO
()
build_hrp2_device
()
# Add the library to wrap the controller of HRP2.
MACRO
(
build_hrp2_controller robotnumber
)
SET
(
CONTROLLER_NAME sot-hrp2-
${
robotnumber
}
-controller
)
ADD_LIBRARY
(
${
CONTROLLER_NAME
}
SHARED
sot-hrp2-controller.cpp
sot-hrp2-device.cpp
sot-hrp2-
${
robotnumber
}
-controller.cpp
)
...
...
@@ -91,6 +124,9 @@ MACRO(build_hrp2_controller robotnumber)
ROSPACK_USE_DEPENDENCY
(
${
CONTROLLER_NAME
}
"dynamic_graph_bridge"
)
ADD_DEPENDENCIES
(
${
CONTROLLER_NAME
}
"sot-hrp2-device"
)
TARGET_LINK_LIBRARIES
(
${
CONTROLLER_NAME
}
"sot-hrp2-device"
)
IF
(
UNIX AND NOT APPLE
)
TARGET_LINK_LIBRARIES
(
${
CONTROLLER_NAME
}
${
Boost_LIBRARIES
}
)
...
...
@@ -98,15 +134,8 @@ MACRO(build_hrp2_controller robotnumber)
INSTALL
(
TARGETS
${
CONTROLLER_NAME
}
DESTINATION
${
CMAKE_INSTALL_LIBDIR
}
)
# build python submodule
STRING
(
REPLACE - _ PYTHON_LIBRARY_NAME
${
CONTROLLER_NAME
}
)
SET
(
NEW_ENTITY_CLASS
${
ENTITIES
}
)
DYNAMIC_GRAPH_PYTHON_MODULE
(
"sot/hrp2/
${
PYTHON_LIBRARY_NAME
}
"
${
CONTROLLER_NAME
}
sot-hrp2-
${
PYTHON_LIBRARY_NAME
}
-wrap
)
ENDMACRO
()
build_hrp2_controller
(
"10"
)
build_hrp2_controller
(
"14"
)
\ No newline at end of file
build_hrp2_controller
(
"14"
)
src/sot-hrp2-device.cpp
View file @
6ec2f2a1
...
...
@@ -6,7 +6,7 @@
* LAAS, CNRS
*
* This file is part of HRP2Controller.
* HRP2Controller is not a free software,
* HRP2Controller is not a free software,
* it contains information related to HRP-2 which involves
* that you either purchased the proper license to have access to
* those informations, or that you signed the appropriate
...
...
@@ -57,14 +57,14 @@ SoTHRP2Device::SoTHRP2Device(std::string RobotName):
std
::
string
docstring
;
/* Command increment. */
docstring
=
"
\n
"
" Integrate dynamics for time step provided as input
\n
"
"
\n
"
" take one floating point number as input
\n
"
"
\n
"
;
"
\n
"
" Integrate dynamics for time step provided as input
\n
"
"
\n
"
" take one floating point number as input
\n
"
"
\n
"
;
addCommand
(
"increment"
,
makeCommandVoid1
((
Device
&
)
*
this
,
&
Device
::
increment
,
docstring
));
makeCommandVoid1
((
Device
&
)
*
this
,
&
Device
::
increment
,
docstring
));
sotDEBUGOUT
(
25
);
}
...
...
@@ -117,9 +117,9 @@ void SoTHRP2Device::setSensors(map<string,dgsot::SensorValues> &SensorsIn)
it
=
SensorsIn
.
find
(
"accelerometer_0"
);
if
(
it
!=
SensorsIn
.
end
())
{
const
vector
<
double
>&
accelerometer
=
SensorsIn
[
"accelerometer_0"
].
getValues
();
for
(
std
::
size_t
i
=
0
;
i
<
3
;
++
i
)
const
vector
<
double
>&
accelerometer
=
SensorsIn
[
"accelerometer_0"
].
getValues
();
for
(
std
::
size_t
i
=
0
;
i
<
3
;
++
i
)
accelerometer_
(
i
)
=
accelerometer
[
i
];
accelerometerSOUT_
.
setConstant
(
accelerometer_
);
}
...
...
@@ -128,7 +128,7 @@ void SoTHRP2Device::setSensors(map<string,dgsot::SensorValues> &SensorsIn)
if
(
it
!=
SensorsIn
.
end
())
{
const
vector
<
double
>&
gyrometer
=
SensorsIn
[
"gyrometer_0"
].
getValues
();
for
(
std
::
size_t
i
=
0
;
i
<
3
;
++
i
)
for
(
std
::
size_t
i
=
0
;
i
<
3
;
++
i
)
gyrometer_
(
i
)
=
gyrometer
[
i
];
gyrometerSOUT_
.
setConstant
(
gyrometer_
);
}
...
...
@@ -173,7 +173,7 @@ void SoTHRP2Device::getControl(map<string,dgsot::ControlValues> &controlOut)
sotDEBUG
(
25
)
<<
"state = "
<<
state_
<<
std
::
endl
;
sotDEBUG
(
25
)
<<
"diff = "
<<
((
previousState_
.
size
()
==
state_
.
size
())
?
(
state_
-
previousState_
)
:
state_
)
<<
std
::
endl
;
(
state_
-
previousState_
)
:
state_
)
<<
std
::
endl
;
previousState_
=
state_
;
// Specify the joint values for the controller.
...
...
src/sot-hrp2-device.hh
View file @
6ec2f2a1
...
...
@@ -6,7 +6,7 @@
* LAAS, CNRS
*
* This file is part of HRP2Controller.
* HRP2Controller is not a free software,
* HRP2Controller is not a free software,
* it contains information related to HRP-2 which involves
* that you either purchased the proper license to havec access to
* those informations, or that you signed the appropriate
...
...
@@ -29,16 +29,16 @@
namespace
dgsot
=
dynamicgraph
::
sot
;
class
SoTHRP2Device
:
public
dgsot
::
Device
dgsot
::
Device
{
public:
public:
static
const
std
::
string
CLASS_NAME
;
static
const
double
TIMESTEP_DEFAULT
;
virtual
const
std
::
string
&
getClassName
()
const
{
return
CLASS_NAME
;
virtual
const
std
::
string
&
getClassName
()
const
{
return
CLASS_NAME
;
}
SoTHRP2Device
(
std
::
string
RobotName
);
...
...
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