Commit ef393cad authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

Update to changes in Pinocchio

parent 3bbef56c
......@@ -18,7 +18,6 @@
#include <hpp/util/debug.hh>
#include "pinocchio/multibody/joint/joint-composite.hpp" // TODO remove me when pinocchio handles this.
#include <pinocchio/multibody/joint/joint.hpp>
#include <hpp/pinocchio/joint.hh>
......
......@@ -16,7 +16,6 @@
#include <hpp/core/steering-method/reeds-shepp.hh>
#include <pinocchio/multibody/joint/joint-composite.hpp> // TODO remove me when pinocchio handles this.
#include <pinocchio/multibody/joint/joint.hpp>
#include <hpp/pinocchio/device.hh>
......
......@@ -82,7 +82,7 @@ DevicePtr_t createRobot ()
JointModelPX::ConfigVector_t lower_position = JointModelPY::ConfigVector_t::Constant(JointModelPX::NQ,-4);
JointModelPX::ConfigVector_t upper_position = JointModelPY::ConfigVector_t::Constant(JointModelPX::NQ,4);
JointIndex idX = robot->model().addJoint(0,JointModelPX(), mat,max_effort,max_velocity,lower_position,upper_position,jointName);
JointIndex idX = robot->model().addJoint(0,JointModelPX(), mat, jointName, max_effort,max_velocity,lower_position,upper_position);
JointModelPY::TangentVector_t max_effortY = JointModelPY::TangentVector_t::Constant(JointModelPY::NV,std::numeric_limits<double>::max());
JointModelPY::TangentVector_t max_velocityY = JointModelPY::TangentVector_t::Constant(JointModelPY::NV,std::numeric_limits<double>::max());
......@@ -90,7 +90,7 @@ DevicePtr_t createRobot ()
JointModelPY::ConfigVector_t upper_positionY = JointModelPY::ConfigVector_t::Constant(JointModelPY::NQ,4);
std::string jointNameY = name + "_y";
robot->model().addJoint(idX,JointModelPY(), mat,max_effortY,max_velocityY,lower_positionY,upper_positionY,jointNameY);
robot->model().addJoint(idX,JointModelPY(), mat,jointNameY,max_effortY,max_velocityY,lower_positionY,upper_positionY);
robot->createData();
robot->createGeomData();
......
......@@ -74,7 +74,7 @@ DevicePtr_t createRobot ()
JointModelPX::ConfigVector_t lower_position(-4);
JointModelPX::ConfigVector_t upper_position(4);
robot->model().addJoint(0,JointModelPX(), mat,max_effort,max_velocity,lower_position,upper_position,jointName);
robot->model().addJoint(0,JointModelPX(), mat,jointName,max_effort,max_velocity,lower_position,upper_position);
robot->createData();
......@@ -121,7 +121,7 @@ DevicePtr_t createRobot2 ()
JointIndex idJoint = 0;
for(int i = 0 ; i < 10 ; ++i){
idJoint = robot->model().addJoint(idJoint,JointModelPX(), mat,max_effort,max_velocity,lower_position,upper_position,jointName + TOSTR(i));
idJoint = robot->model().addJoint(idJoint,JointModelPX(), mat,jointName + TOSTR(i),max_effort,max_velocity,lower_position,upper_position);
}
......
......@@ -88,15 +88,15 @@ DevicePtr_t createRobot ()
JointModelPX::ConfigVector_t lower_position = JointModelPY::ConfigVector_t::Constant(-4);
JointModelPX::ConfigVector_t upper_position = JointModelPY::ConfigVector_t::Constant(4);
JointIndex idJoint = robot->model().addJoint(0,JointModelPX(), mat,max_effort,max_velocity,lower_position,upper_position,jointName);
JointIndex idJoint = robot->model().addJoint(0,JointModelPX(), mat,jointName,max_effort,max_velocity,lower_position,upper_position);
std::string bname = "joint_a";
for (int i = 0; i < 2; ++i) {
idJoint = robot->model().addJoint(idJoint,JointModelPX(), mat,max_effort,max_velocity,lower_position,upper_position,bname+TOSTR(i));
idJoint = robot->model().addJoint(idJoint,JointModelPX(), mat,bname+TOSTR(i),max_effort,max_velocity,lower_position,upper_position);
}
bname = "joint_b";
for (int i = 0; i < 3; ++i) {
idJoint = robot->model().addJoint(idJoint,JointModelPX(), mat,max_effort,max_velocity,lower_position,upper_position,bname+TOSTR(i));
idJoint = robot->model().addJoint(idJoint,JointModelPX(), mat,bname+TOSTR(i),max_effort,max_velocity,lower_position,upper_position);
}
......
......@@ -106,8 +106,8 @@ BOOST_AUTO_TEST_CASE (Roadmap1) {
JointModelPX::ConfigVector_t lower_position = JointModelPY::ConfigVector_t::Constant(-3);
JointModelPX::ConfigVector_t upper_position = JointModelPY::ConfigVector_t::Constant(3);
JointIndex idJoint = robot->model().addJoint(0,JointModelPX(), mat,max_effort,max_velocity,lower_position,upper_position,name + "_x");
robot->model().addJoint(idJoint,JointModelPY(), mat,max_effort,max_velocity,lower_position,upper_position,name + "_y");
JointIndex idJoint = robot->model().addJoint(0,JointModelPX(), mat,name + "_x",max_effort,max_velocity,lower_position,upper_position);
robot->model().addJoint(idJoint,JointModelPY(), mat,name + "_y",max_effort,max_velocity,lower_position,upper_position);
robot->createData();
robot->createGeomData();
......@@ -350,8 +350,8 @@ BOOST_AUTO_TEST_CASE (nearestNeighbor) {
JointModelPX::ConfigVector_t upper_position = JointModelPY::ConfigVector_t::Constant(3);
JointIndex idJoint = robot->model().addJoint(0,::se3::JointModelPX(), mat,max_effort,max_velocity,lower_position,upper_position,name + "_x");
robot->model().addJoint(idJoint,::se3::JointModelPY(), mat,max_effort,max_velocity,lower_position,upper_position,name + "_y");
JointIndex idJoint = robot->model().addJoint(0,::se3::JointModelPX(), mat,name + "_x",max_effort,max_velocity,lower_position,upper_position);
robot->model().addJoint(idJoint,::se3::JointModelPY(), mat,name + "_y",max_effort,max_velocity,lower_position,upper_position);
robot->createData();
robot->createGeomData();
......
......@@ -95,7 +95,7 @@ BOOST_AUTO_TEST_CASE (kdTree) {
JointIndex idJoint = 0;
idJoint = robot->model().addJoint(idJoint,JointModelTranslation(), mat,max_effort,max_velocity,lower_position,upper_position,name + "_xyz");
idJoint = robot->model().addJoint(idJoint,JointModelTranslation(), mat,name + "_xyz",max_effort,max_velocity,lower_position,upper_position);
idJoint = robot->model().addJoint(idJoint,JointModelSpherical() , mat,name + "_SO3");
idJoint = robot->model().addJoint(idJoint,JointModelRUBZ() , mat,name + "_SO2");
......
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