From 9155eda0bf26d4ed8fa0ecbadbfc9b27333399c1 Mon Sep 17 00:00:00 2001
From: fbailly <fbailly@laas.fr>
Date: Fri, 1 Feb 2019 10:32:58 +0100
Subject: [PATCH] added compatiblilty with signal-helper of dynamic-graph
---
include/sot/talos_balance/dcm-estimator.hh | 2 +-
src/dcm-estimator.cpp | 14 +++++++-------
2 files changed, 8 insertions(+), 8 deletions(-)
diff --git a/include/sot/talos_balance/dcm-estimator.hh b/include/sot/talos_balance/dcm-estimator.hh
index 1e3888a..3d89368 100644
--- a/include/sot/talos_balance/dcm-estimator.hh
+++ b/include/sot/talos_balance/dcm-estimator.hh
@@ -40,7 +40,7 @@
#include <pinocchio/multibody/model.hpp>
#include <pinocchio/parsers/urdf.hpp>
#include <pinocchio/algorithm/kinematics.hpp>
-#include <sot/talos_balance/robot-utils.hh>
+#include <sot/core/robot-utils.hh>
namespace dynamicgraph
{
diff --git a/src/dcm-estimator.cpp b/src/dcm-estimator.cpp
index 9dee50d..ffb068f 100644
--- a/src/dcm-estimator.cpp
+++ b/src/dcm-estimator.cpp
@@ -33,8 +33,8 @@ namespace dynamicgraph
#define PROFILE_BASE_VELOCITY_ESTIMATION "base-est velocity estimation"
#define PROFILE_BASE_KINEMATICS_COMPUTATION "base-est kinematics computation"
-#define INPUT_SIGNALS m_qSIN << m_vSIN
-#define OUTPUT_SIGNALS m_cSOUT << m_dcSOUT
+#define INPUT_SIGNALS qSIN << vSIN
+#define OUTPUT_SIGNALS cSOUT << dcSOUT
/// Define EntityClassName here rather than in the header file
/// so that it can be used by the macros DEFINE_SIGNAL_**_FUNCTION.
@@ -49,8 +49,8 @@ namespace dynamicgraph
: Entity(name)
,CONSTRUCT_SIGNAL_IN( q, dynamicgraph::Vector)
,CONSTRUCT_SIGNAL_IN( v, dynamicgraph::Vector)
- ,CONSTRUCT_SIGNAL_OUT(c, dynamicgraph::Vector, m_qSIN)
- ,CONSTRUCT_SIGNAL_OUT(dc, dynamicgraph::Vector, m_qSIN << m_vSIN)
+ ,CONSTRUCT_SIGNAL_OUT(c, dynamicgraph::Vector, qSIN)
+ ,CONSTRUCT_SIGNAL_OUT(dc, dynamicgraph::Vector, qSIN << vSIN)
,m_data(se3::Model())
{
Entity::signalRegistration( INPUT_SIGNALS << OUTPUT_SIGNALS );
@@ -108,7 +108,7 @@ namespace dynamicgraph
SEND_WARNING_STREAM_MSG("Cannot compute signal com before initialization!");
return s;
}
- const Vector & q = m_qSIN(iter);
+ const Vector & q = qSIN(iter);
se3::centerOfMass(m_model,m_data,q);
s = m_data.com[0];
return s;
@@ -121,8 +121,8 @@ namespace dynamicgraph
SEND_WARNING_STREAM_MSG("Cannot compute signal dcom before initialization!");
return s;
}
- const Vector & q = m_qSIN(iter);
- const Vector & v = m_vSIN(iter);
+ const Vector & q = qSIN(iter);
+ const Vector & v = vSIN(iter);
se3::centerOfMass(m_model,m_data,q,v);
s = m_data.vcom[0];
return s;
--
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