Commit dc3ef51a authored by florent's avatar florent
Browse files

Pre-release of version compiling with hppModel (--disable-body). ChppBody

and ChppDevice are now implemented in hppModel.
WARNING: some methods and attribute names might have changed.
parent b3f475a9
<<<<<<< master
2007/11/05
Pre-release of version compiling with hppModel (--disable-body). ChppBody and ChppDevice are now
implemented in hppModel.
WARNING: some methods and attribute names might have changed.
2007/10/30
Added ChppBody::addSolidComponent to add an object to a body and insert it in the inner object list.
Added virtual method ChppPlanner::initializeProblem() to enable customized initialization of objects
......@@ -16,9 +20,8 @@
hppCore can now be installed
either with a dependence to hppModel (implementing ChppDevice, ChppBody, ChppJoint)
or with a simplified implementation of ChppBody without dynamics but with enhanced distance computation facilities.
=======
hppCore 1.2 released October 10, 2007
>>>>>>> origin
2007/09/30
21. When inserting a new problem, attach existing obstacles to the robot.
......
......@@ -6,7 +6,27 @@ untar the package
cd hppCore
mkdir build
cd build
../configure
../configure [OPTIONS]
--disable-body : Configuration with dependence to hppModel
----------------------------------------------------------
hppCore can be compiled with a dependence to package hppModel that
provides implementation of the following classes:
- ChppBody that implements a dynamic and geometric body. This class
derives from CkwsKCDBody for the geometric part and from an
implementation of CjrlBody for the dynamic part,
- ChppDevice that implements a dynamic and geometric robot. This class
derives from CkppDeviceComponent for the geometric part and from
an implementation of CjrlDynamicRobot for the dynamic part.
--enable-body : Configuration with or without dependence to hppModel
--------------------------------------------------------------------
If the dependence to hppModel is not required, hppCore provides a
simplified implementation of class ChppBody deriving from CkwsKCDBody.
Compilation
-----------
......
......@@ -21,7 +21,6 @@ PKG_CHECK_MODULES(KWSPLUS, kwplus_reqd)
KWSPLUS_PREFIX=`$PKG_CONFIG kwsPlus --variable=prefix`
AC_SUBST(KWSPLUS_PREFIX)
<<<<<<< master
AC_ARG_ENABLE(body, AC_HELP_STRING([--enable-body],
[Implement ChppBody class (see INSTALL for more information)]), body=no, body=no)
......@@ -54,8 +53,6 @@ fi
AM_CONDITIONAL(BODY, test x${body} = xyes)
=======
>>>>>>> origin
AC_OUTPUT(Makefile
src/Makefile
include/Makefile
......
......@@ -75,31 +75,6 @@ public:
bool printCollisionStatus(const bool& detailInfoFlag = false);
void printCollisionStatusFast();
#if 0
/**
\brief Functions for physical properties : Setting and getting mass.
*/
void mass(double m);
double mass();
/**
\brief Setting and getting moments of inertia.
*/
void intertia(std::vector<double> i);
std::vector<double> inertia();
/**
\brief Setting and getting relative CoM vector.
*/
void relComVec(double x, double y, double z);
void relComVec(const CkitVect3& vec);
const CkitVect3& relComVec() const;
/**
\brief Calculate absolute position of CoM from Joint information
*/
ktStatus currentComPos(CkitPoint3 &pos);
#endif
protected:
ChppBody(std::string inName) : bodyName(inName) {};
......
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