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Guilhem Saurel
sot-hrp2
Commits
6f3830c5
Commit
6f3830c5
authored
Jun 02, 2015
by
mnaveau
Browse files
[cmake] Fix bug in making hrp-2 libraries optional.
parent
9a28f18f
Changes
2
Hide whitespace changes
Inline
Side-by-side
src/CMakeLists.txt
View file @
6f3830c5
...
...
@@ -41,21 +41,23 @@ FUNCTION(COMPILE_PLUGIN NAME SOURCES ENTITIES)
ENDFUNCTION
()
# Compile plug-ins.
IF
(
hrp2-dynamics_FOUND
)
IF
(
HRP2_DYNAMICS_FOUND
)
MESSAGE
(
STATUS
"Add dynamic-hrp2_14 plugin"
)
COMPILE_PLUGIN
(
dynamic-hrp2_14 dynamic-hrp2_14.cc DynamicHrp2_14
)
PKG_CONFIG_USE_DEPENDENCY
(
dynamic-hrp2_14 hrp2-dynamics
)
ENDIF
()
IF
(
hrp2-10-optimized_FOUND
)
IF
(
HRP2_10_OPTIMIZED_FOUND
)
MESSAGE
(
STATUS
"Add dynamic-hrp2_10 plugin"
)
COMPILE_PLUGIN
(
dynamic-hrp2_10 dynamic-hrp2_10.cc DynamicHrp2_10
)
PKG_CONFIG_USE_DEPENDENCY
(
dynamic-hrp2_10 hrp2-10-optimized
)
ENDIF
()
IF
(
hrp2-10-optimized
_FOUND
)
IF
(
HRP2_10_OPTIMIZED
_FOUND
)
CONFIG_FILES
(
dynamic_graph/sot/hrp2_10/robot.py
)
ENDIF
()
IF
(
hrp2-dynamics
_FOUND
)
IF
(
HRP2_DYNAMICS
_FOUND
)
CONFIG_FILES
(
dynamic_graph/sot/hrp2_14/robot.py
)
ENDIF
()
...
...
@@ -71,7 +73,7 @@ PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "hrp2.py" )
SET
(
FILES __init__.py robot.py
)
# Install dynamic_graph.sot.hrp2_14
IF
(
hrp2-dynamics
_FOUND
)
IF
(
HRP2_DYNAMICS
_FOUND
)
SET
(
PYTHON_MODULE dynamic_graph/sot/hrp2_14
)
PYTHON_INSTALL_ON_SITE
(
"
${
PYTHON_MODULE
}
"
"__init__.py"
)
PYTHON_INSTALL_BUILD
(
"
${
PYTHON_MODULE
}
"
"robot.py"
"
${
PYTHON_SITELIB
}
"
)
...
...
@@ -79,7 +81,7 @@ IF (hrp2-dynamics_FOUND)
ENDIF
()
# Install dynamic_graph.sot.hrp2_10
IF
(
hrp2-10-optimized
_FOUND
)
IF
(
HRP2_10_OPTIMIZED
_FOUND
)
SET
(
PYTHON_MODULE dynamic_graph/sot/hrp2_10
)
PYTHON_INSTALL_ON_SITE
(
"
${
PYTHON_MODULE
}
"
"__init__.py"
)
PYTHON_INSTALL_BUILD
(
"
${
PYTHON_MODULE
}
"
"robot.py"
"
${
PYTHON_SITELIB
}
"
)
...
...
@@ -149,11 +151,11 @@ MACRO(build_hrp2_controller robotnumber)
ENDMACRO
()
IF
(
hrp2-10-optimized
_FOUND
)
IF
(
HRP2_10_OPTIMIZED
_FOUND
)
build_hrp2_controller
(
"10"
)
ENDIF
()
IF
(
hrp2-dynamics
_FOUND
)
IF
(
HRP2_DYNAMICS
_FOUND
)
build_hrp2_controller
(
"14"
)
ENDIF
()
src/sot-hrp2-device.cpp
View file @
6f3830c5
...
...
@@ -172,10 +172,9 @@ void SoTHRP2Device::getControl(map<string,dgsot::ControlValues> &controlOut)
sotDEBUGIN
(
25
)
;
vector
<
double
>
anglesOut
;
anglesOut
.
resize
(
state_
.
size
());
// Integrate control
increment
(
timestep_
);
sotDEBUG
(
25
)
<<
"state = "
<<
state_
<<
std
::
endl
;
sotDEBUG
(
25
)
<<
"diff = "
<<
((
previousState_
.
size
()
==
state_
.
size
())
?
(
state_
-
previousState_
)
:
state_
)
<<
std
::
endl
;
...
...
@@ -188,7 +187,7 @@ void SoTHRP2Device::getControl(map<string,dgsot::ControlValues> &controlOut)
for
(
unsigned
int
i
=
6
;
i
<
state_
.
size
();
++
i
)
anglesOut
[
i
-
6
]
=
state_
(
i
);
controlOut
[
"joints"
].
setValues
(
anglesOut
);
// Read zmp reference from input signal if plugged
int
time
=
controlSIN
.
getTime
();
zmpSIN
.
recompute
(
time
+
1
);
...
...
@@ -206,7 +205,7 @@ void SoTHRP2Device::getControl(map<string,dgsot::ControlValues> &controlOut)
controlOut
[
"zmp"
].
setName
(
"zmp"
);
controlOut
[
"zmp"
].
setValues
(
ZMPRef
);
// Update position of freeflyer in global frame
for
(
int
i
=
0
;
i
<
3
;
++
i
)
baseff_
[
i
*
4
+
3
]
=
freeFlyerPose
()
(
i
,
3
);
...
...
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