Commit fa3f1f27 authored by olivier stasse's avatar olivier stasse
Browse files

Working hrp2-controller inside sot-hrp2-sys.

But the initializations script are wrong.
parent 5fd38dea
......@@ -51,6 +51,7 @@ ADD_REQUIRED_DEPENDENCY("hrp2-14 >= 1.8")
ADD_REQUIRED_DEPENDENCY("dynamic-graph")
ADD_REQUIRED_DEPENDENCY("sot-core")
ADD_REQUIRED_DEPENDENCY("dynamic-graph-corba")
# Search for dependencies.
# Boost
......
......@@ -79,6 +79,6 @@ ADD_LIBRARY(sot-hrp2-controller
# Link the dynamic library containing the SoT with its dependencies.
PKG_CONFIG_USE_DEPENDENCY(sot-hrp2-controller "dynamic-graph")
PKG_CONFIG_USE_DEPENDENCY(sot-hrp2-controller "sot-core")
#PKG_CONFIG_USE_DEPENDENCY(sot-hrp2-controller "dynamic-graph-corba")
PKG_CONFIG_USE_DEPENDENCY(sot-hrp2-controller "dynamic-graph-corba")
INSTALL(TARGETS sot-hrp2-controller DESTINATION lib/${ROBOTNAME})
\ No newline at end of file
......@@ -32,11 +32,14 @@ SoTHRP2Controller::SoTHRP2Controller():
dgsot::Device(ENTITYNAME),
timestep_ (TIMESTEP_DEFAULT),
previousState_ (),
robotState_ ("StackOfTasks(" + ENTITYNAME + ")::output(vector)::robotState")
robotState_ ("StackOfTasks(" + ENTITYNAME + ")::output(vector)::robotState"),
interpreter_()
{
signalRegistration (robotState_);
std::cout << __FILE__ << ":" << __FUNCTION__ <<"(#" << __LINE__ << " )" << std::endl;
startupPython();
}
SoTHRP2Controller::~SoTHRP2Controller()
......@@ -45,8 +48,7 @@ SoTHRP2Controller::~SoTHRP2Controller()
void SoTHRP2Controller::setupSetSensors(map<string,dgsot::SensorValues> &SensorsIn)
{
startupPython();
vector<double> anglesIn = SensorsIn["joints"].getValues();
// Read state from motor command
......
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