Commit 75711f92 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

Improve function humanoidSimple

parent 6fd7db40
......@@ -17,7 +17,7 @@
#ifndef HPP_PINOCCHIO_SIMPLE_DEVICE_HH
# define HPP_PINOCCHIO_SIMPLE_DEVICE_HH
# include <pinocchio/parsers/sample-models.hpp>
# include <hpp/pinocchio/fwd.hh>
# include <hpp/pinocchio/device.hh>
namespace hpp {
......@@ -26,17 +26,7 @@ namespace hpp {
const std::string& name = "humanoidSimple",
bool usingFF = true,
Device::Computation_t compFlags = (Device::Computation_t) (Device::JOINT_POSITION | Device::JACOBIAN)
)
{
DevicePtr_t robot = Device::create (name);
se3::buildModels::humanoidSimple(robot->model(), usingFF);
robot->createData();
robot->createGeomData();
robot->controlComputation(compFlags);
robot->currentConfiguration(robot->neutralConfiguration());
robot->computeForwardKinematics();
return robot;
}
);
} // namespace pinocchio
} // namespace hpp
#endif // HPP_PINOCCHIO_SIMPLE_DEVICE_HH
......@@ -28,6 +28,7 @@ SET(LIBRARY_SOURCES
gripper.cc
center-of-mass-computation.cc
configuration.cc
simple-device.cc
urdf/util.cc
)
......
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