Add some widely available information for other packages in the robot object.

Minor change: inverse header inclusion order.

src/dynamic_graph/sot/hrp2/hrp2.py

@@ -43,16 +43,17 @@ class Hrp2(AbstractHumanoidRobot):
 
         self.OperationalPoints.append('waist')
         self.device = device
-        modelName = 'HRP2JRLmainsmall.wrl'
-        specificitiesPath = xmlDir + '/HRP2SpecificitiesSmall.xml'
-        jointRankPath = xmlDir + '/HRP2LinkJointRankSmall.xml'
+        self.modelDir = modelDir
+        self.modelName = 'HRP2JRLmainsmall.wrl'
+        self.specificitiesPath = xmlDir + '/HRP2SpecificitiesSmall.xml'
+        self.jointRankPath = xmlDir + '/HRP2LinkJointRankSmall.xml'
 
         self.dynamic = self.loadModelFromJrlDynamics(
             self.name + '_dynamic',
             modelDir,
-            modelName,
-            specificitiesPath,
-            jointRankPath,
+            self.modelName,
+            self.specificitiesPath,
+            self.jointRankPath,
             dynamicType)
 
         self.dimension = self.dynamic.getDimension()

src/sot-hrp2-controller.cpp

@@ -17,8 +17,8 @@
 
 #include <sot/core/debug.hh>
 #include <sot/core/exception-abstract.hh>
-#include "sot-hrp2-controller.hh"
 #include <dynamic_graph_bridge/ros_init.hh>
+#include "sot-hrp2-controller.hh"
 
 const std::string SoTHRP2Controller::LOG_PYTHON="/tmp/HRP2Controller_python.out";