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  • gsaurel/hpp-manipulation
  • humanoid-path-planner/hpp-manipulation
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...@@ -55,7 +55,9 @@ class HPP_MANIPULATION_DLLAPI Device ...@@ -55,7 +55,9 @@ class HPP_MANIPULATION_DLLAPI Device
/// \param name of the new instance, /// \param name of the new instance,
static DevicePtr_t create(const std::string& name); static DevicePtr_t create(const std::string& name);
DevicePtr_t self() { return shared_from_this(); } DevicePtr_t self() {
return enable_shared_from_this<Device>::shared_from_this();
}
/// Print object in a stream /// Print object in a stream
virtual std::ostream& print(std::ostream& os) const; virtual std::ostream& print(std::ostream& os) const;
......
...@@ -139,8 +139,9 @@ void Device::removeJoints(const std::vector<std::string>& jointNames, ...@@ -139,8 +139,9 @@ void Device::removeJoints(const std::vector<std::string>& jointNames,
Parent_t::removeJoints(jointNames, referenceConfig); Parent_t::removeJoints(jointNames, referenceConfig);
for (auto& pair : grippers.map) for (auto& pair : grippers.map)
pair.second = pair.second = pinocchio::Gripper::create(
pinocchio::Gripper::create(pair.second->name(), shared_from_this()); pair.second->name(),
std::enable_shared_from_this<Device>::shared_from_this());
// TODO update handles and jointAndShapes // TODO update handles and jointAndShapes
} }
......
...@@ -302,6 +302,10 @@ ConstraintSetPtr_t Edge::buildPathConstraint() { ...@@ -302,6 +302,10 @@ ConstraintSetPtr_t Edge::buildPathConstraint() {
shared_ptr<core::ObstacleUserInterface> oui = shared_ptr<core::ObstacleUserInterface> oui =
HPP_DYNAMIC_PTR_CAST(core::ObstacleUserInterface, pathValidation_); HPP_DYNAMIC_PTR_CAST(core::ObstacleUserInterface, pathValidation_);
if (oui) { if (oui) {
// Compute forward kinematics and geometry placement to avoid assertions on
// non initialized data
g->robot()->computeForwardKinematics(pinocchio::COMPUTE_ALL);
g->robot()->updateGeometryPlacements();
relMotion_ = RelativeMotion::matrix(g->robot()); relMotion_ = RelativeMotion::matrix(g->robot());
RelativeMotion::fromConstraint(relMotion_, g->robot(), constraint); RelativeMotion::fromConstraint(relMotion_, g->robot(), constraint);
oui->filterCollisionPairs(relMotion_); oui->filterCollisionPairs(relMotion_);
......