From ba06ab639bd954432e871dd2ce443bfee0e0405c Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Thu, 3 Jan 2019 17:52:49 +0100
Subject: [PATCH] fix libname
---
python/centroidal_dynamics_python.cpp | 2 +-
python/test/binding_tests.py | 24 ++++++++++++------------
2 files changed, 13 insertions(+), 13 deletions(-)
diff --git a/python/centroidal_dynamics_python.cpp b/python/centroidal_dynamics_python.cpp
index f1ca1e7..3fff17a 100644
--- a/python/centroidal_dynamics_python.cpp
+++ b/python/centroidal_dynamics_python.cpp
@@ -58,7 +58,7 @@ boost::python::tuple wrapGetPolytopeInequalities(Equilibrium& self)
-BOOST_PYTHON_MODULE(centroidal_dynamics)
+BOOST_PYTHON_MODULE(hpp_centroidal_dynamics)
{
/** BEGIN eigenpy init**/
eigenpy::enableEigenPy();
diff --git a/python/test/binding_tests.py b/python/test/binding_tests.py
index 683bad2..4f13e81 100644
--- a/python/test/binding_tests.py
+++ b/python/test/binding_tests.py
@@ -1,12 +1,12 @@
-from centroidal_dynamics import *
+from hpp_centroidal_dynamics import *
#testing constructors
-eq = Equilibrium("test", 54., 4)
-eq = Equilibrium("test", 54., 4, SolverLP.SOLVER_LP_QPOASES )
-eq = Equilibrium("test", 54., 4, SolverLP.SOLVER_LP_QPOASES )
-eq = Equilibrium("test", 54., 4, SolverLP.SOLVER_LP_QPOASES, False)
-eq = Equilibrium("test", 54., 4, SolverLP.SOLVER_LP_QPOASES, False, 1)
-eq = Equilibrium("test", 54., 4, SolverLP.SOLVER_LP_QPOASES, True, 1, True )
+eq = Equilibrium("test", 54., 4)
+eq = Equilibrium("test", 54., 4, SolverLP.SOLVER_LP_QPOASES )
+eq = Equilibrium("test", 54., 4, SolverLP.SOLVER_LP_QPOASES )
+eq = Equilibrium("test", 54., 4, SolverLP.SOLVER_LP_QPOASES, False)
+eq = Equilibrium("test", 54., 4, SolverLP.SOLVER_LP_QPOASES, False, 1)
+eq = Equilibrium("test", 54., 4, SolverLP.SOLVER_LP_QPOASES, True, 1, True )
#whether useWarmStart is enable (True by default)
previous = eq.useWarmStart()
@@ -25,7 +25,7 @@ z = array([0.,0.,1.])
P = asmatrix(array([array([x,y,0]) for x in [-0.05,0.05] for y in [-0.1,0.1]]))
N = asmatrix(array([z for _ in range(4)]))
-#setting contact positions and normals, as well as friction coefficients
+#setting contact positions and normals, as well as friction coefficients
eq.setNewContacts(asmatrix(P),asmatrix(N),0.3,EquilibriumAlgorithm.EQUILIBRIUM_ALGORITHM_LP)
c= asmatrix(array([0.,0.,1.])).T
@@ -34,7 +34,7 @@ c= asmatrix(array([0.,0.,1.])).T
status, robustness = eq.computeEquilibriumRobustness(c)
assert (status == LP_STATUS_OPTIMAL), "LP should not fail"
assert (robustness > 0), "first test should be in equilibrirum"
-
+
#computing robustness of a given configuration with non zero acceleration
ddc= asmatrix(array([1000.,0.,0.])).T
status, robustness = eq.computeEquilibriumRobustness(c,ddc)
@@ -58,10 +58,10 @@ import numpy as np
def compute_w(c, ddc, dL=array([0.,0.,0.]), m = 54., g_vec=array([0.,0.,-9.81])):
w1 = m * (ddc - g_vec)
return array(w1.tolist() + (cross(c, w1) + dL).tolist())
-
+
def is_stable(H,c=array([0.,0.,1.]), ddc=array([0.,0.,0.]), dL=array([0.,0.,0.]), m = 54., g_vec=array([0.,0.,-9.81]), robustness = 0.):
- w = compute_w(c, ddc, dL, m, g_vec)
+ w = compute_w(c, ddc, dL, m, g_vec)
return (H.dot(-w)<=-robustness).all()
-
+
assert(is_stable(H))
--
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