Commit fe19a693 authored by olivier stasse's avatar olivier stasse
Browse files

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

Minor change: inverse header inclusion order.
parent 0b6b99d7
......@@ -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()
......
......@@ -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";
......
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