Commit baf5bedd authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr
Browse files

Update to new CjrlFoot interface.

parent 3d168574
...@@ -76,21 +76,6 @@ HumanoidRobot::ANKLEPOSINLEFTFOOTFRAMEZ_ID(CkppProperty::makeID()); ...@@ -76,21 +76,6 @@ HumanoidRobot::ANKLEPOSINLEFTFOOTFRAMEZ_ID(CkppProperty::makeID());
const std::string const std::string
HumanoidRobot::ANKLEPOSINLEFTFOOTFRAMEZ_STRING_ID("ANKLEPOSINLEFTFOOTFRAMEZ"); HumanoidRobot::ANKLEPOSINLEFTFOOTFRAMEZ_STRING_ID("ANKLEPOSINLEFTFOOTFRAMEZ");
const CkppProperty::TPropertyID const CkppProperty::TPropertyID
HumanoidRobot::SOLECENTERINLEFTFOOTFRAMEX_ID(CkppProperty::makeID());
const std::string
HumanoidRobot::SOLECENTERINLEFTFOOTFRAMEX_STRING_ID
("SOLECENTERINLEFTFOOTFRAMEX");
const CkppProperty::TPropertyID
HumanoidRobot::SOLECENTERINLEFTFOOTFRAMEY_ID(CkppProperty::makeID());
const std::string
HumanoidRobot::SOLECENTERINLEFTFOOTFRAMEY_STRING_ID
("SOLECENTERINLEFTFOOTFRAMEY");
const CkppProperty::TPropertyID
HumanoidRobot::SOLECENTERINLEFTFOOTFRAMEZ_ID(CkppProperty::makeID());
const std::string
HumanoidRobot::SOLECENTERINLEFTFOOTFRAMEZ_STRING_ID
("SOLECENTERINLEFTFOOTFRAMEZ");
const CkppProperty::TPropertyID
HumanoidRobot::SOLELENGTH_ID(CkppProperty::makeID()); HumanoidRobot::SOLELENGTH_ID(CkppProperty::makeID());
const std::string HumanoidRobot::SOLELENGTH_STRING_ID("SOLELENGTH"); const std::string HumanoidRobot::SOLELENGTH_STRING_ID("SOLELENGTH");
const CkppProperty::TPropertyID const CkppProperty::TPropertyID
...@@ -232,24 +217,6 @@ ktStatus HumanoidRobot::init (const HumanoidRobotWkPtr &inWeakPtr, ...@@ -232,24 +217,6 @@ ktStatus HumanoidRobot::init (const HumanoidRobotWkPtr &inWeakPtr,
ANKLEPOSINLEFTFOOTFRAMEZ_STRING_ID); ANKLEPOSINLEFTFOOTFRAMEZ_STRING_ID);
if (!anklePosInLeftFootFrameZ) return KD_ERROR; if (!anklePosInLeftFootFrameZ) return KD_ERROR;
soleCenterInLeftFootFrameX =
CkppDoubleProperty::create("SOLECENTERINLEFTFOOTFRAMEX", component,
SOLECENTERINLEFTFOOTFRAMEX_ID,
SOLECENTERINLEFTFOOTFRAMEX_STRING_ID);
if (!soleCenterInLeftFootFrameX) return KD_ERROR;
soleCenterInLeftFootFrameY =
CkppDoubleProperty::create("SOLECENTERINLEFTFOOTFRAMEY", component,
SOLECENTERINLEFTFOOTFRAMEY_ID,
SOLECENTERINLEFTFOOTFRAMEY_STRING_ID);
if (!soleCenterInLeftFootFrameY) return KD_ERROR;
soleCenterInLeftFootFrameZ =
CkppDoubleProperty::create("SOLECENTERINLEFTFOOTFRAMEZ", component,
SOLECENTERINLEFTFOOTFRAMEZ_ID,
SOLECENTERINLEFTFOOTFRAMEZ_STRING_ID);
if (!soleCenterInLeftFootFrameZ) return KD_ERROR;
soleLength = CkppDoubleProperty::create("SOLELENGTH", component, soleLength = CkppDoubleProperty::create("SOLELENGTH", component,
SOLELENGTH_ID, SOLELENGTH_ID,
SOLELENGTH_STRING_ID); SOLELENGTH_STRING_ID);
...@@ -347,9 +314,6 @@ HumanoidRobot::fillPropertyVector(std::vector<CkppPropertyShPtr>& ...@@ -347,9 +314,6 @@ HumanoidRobot::fillPropertyVector(std::vector<CkppPropertyShPtr>&
inOutPropertyVector.push_back(anklePosInLeftFootFrameX); inOutPropertyVector.push_back(anklePosInLeftFootFrameX);
inOutPropertyVector.push_back(anklePosInLeftFootFrameY); inOutPropertyVector.push_back(anklePosInLeftFootFrameY);
inOutPropertyVector.push_back(anklePosInLeftFootFrameZ); inOutPropertyVector.push_back(anklePosInLeftFootFrameZ);
inOutPropertyVector.push_back(soleCenterInLeftFootFrameX);
inOutPropertyVector.push_back(soleCenterInLeftFootFrameY);
inOutPropertyVector.push_back(soleCenterInLeftFootFrameZ);
inOutPropertyVector.push_back(soleLength); inOutPropertyVector.push_back(soleLength);
inOutPropertyVector.push_back(soleWidth); inOutPropertyVector.push_back(soleWidth);
inOutPropertyVector.push_back(leftHandCenterX); inOutPropertyVector.push_back(leftHandCenterX);
...@@ -529,15 +493,8 @@ void HumanoidRobot::setHumanoidProperties(const ChppHumanoidRobotShPtr& inRobot) ...@@ -529,15 +493,8 @@ void HumanoidRobot::setHumanoidProperties(const ChppHumanoidRobotShPtr& inRobot)
anklePosInFootFrame(1) = anklePosInLeftFootFrameY->value(); anklePosInFootFrame(1) = anklePosInLeftFootFrameY->value();
anklePosInFootFrame(2) = anklePosInLeftFootFrameZ->value(); anklePosInFootFrame(2) = anklePosInLeftFootFrameZ->value();
foot->setAnklePositionInLocalFrame(anklePosInFootFrame); foot->setAnklePositionInLocalFrame(anklePosInFootFrame);
vector3d soleCenterInFootFrame;
soleCenterInFootFrame(0) = soleCenterInLeftFootFrameX->value();
soleCenterInFootFrame(1) = soleCenterInLeftFootFrameY->value();
soleCenterInFootFrame(2) = soleCenterInLeftFootFrameZ->value();
foot->setSoleCenterInLocalFrame(soleCenterInFootFrame);
foot->setSoleSize(soleLength->value(), soleWidth->value()); foot->setSoleSize(soleLength->value(), soleWidth->value());
vector3d vzero; vector3d vzero;
vzero(0) = vzero(1) = vzero(2) = 0.0;
foot->setProjectionCenterLocalFrameInSole(vzero);
inRobot->leftFoot(foot); inRobot->leftFoot(foot);
// right ankle // right ankle
name = rightAnkle->value(); name = rightAnkle->value();
...@@ -551,11 +508,6 @@ void HumanoidRobot::setHumanoidProperties(const ChppHumanoidRobotShPtr& inRobot) ...@@ -551,11 +508,6 @@ void HumanoidRobot::setHumanoidProperties(const ChppHumanoidRobotShPtr& inRobot)
foot->setAssociatedAnkle(jrlJoint); foot->setAssociatedAnkle(jrlJoint);
// Get right foot values by symmetry // Get right foot values by symmetry
anklePosInFootFrame(1) *= -1; anklePosInFootFrame(1) *= -1;
soleCenterInFootFrame(1) *= -1;
foot->setAnklePositionInLocalFrame(anklePosInFootFrame);
foot->setSoleCenterInLocalFrame(soleCenterInFootFrame);
foot->setSoleSize(soleLength->value(), soleWidth->value());
foot->setProjectionCenterLocalFrameInSole(vzero);
inRobot->rightFoot(foot); inRobot->rightFoot(foot);
// left wrist // left wrist
......
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