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Humanoid Path Planner
hpp-practicals
Commits
1d4655fe
Commit
1d4655fe
authored
Jun 20, 2019
by
Joseph Mirabel
Committed by
Joseph Mirabel
Jun 20, 2019
Browse files
Remove usage of deprecated function.
parent
6fcca837
Changes
1
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Inline
Side-by-side
script/grasp_ball.py
View file @
1d4655fe
...
@@ -47,17 +47,17 @@ ps.setConstantRightHandSide ('placement', True)
...
@@ -47,17 +47,17 @@ ps.setConstantRightHandSide ('placement', True)
ps
.
setConstantRightHandSide
(
'placement/complement'
,
False
)
ps
.
setConstantRightHandSide
(
'placement/complement'
,
False
)
## Set constraints of nodes and edges
## Set constraints of nodes and edges
graph
.
set
Constraints
(
node
=
'placement'
,
constraints
=
\
graph
.
add
Constraints
(
node
=
'placement'
,
constraints
=
\
Constraints
(
numConstraints
=
[
'placement'
],))
Constraints
(
numConstraints
=
[
'placement'
],))
graph
.
set
Constraints
(
node
=
'grasp'
,
graph
.
add
Constraints
(
node
=
'grasp'
,
constraints
=
Constraints
(
numConstraints
=
[
'grasp'
]))
constraints
=
Constraints
(
numConstraints
=
[
'grasp'
]))
graph
.
set
Constraints
(
edge
=
'transit'
,
constraints
=
\
graph
.
add
Constraints
(
edge
=
'transit'
,
constraints
=
\
Constraints
(
numConstraints
=
[
'placement/complement'
]))
Constraints
(
numConstraints
=
[
'placement/complement'
]))
graph
.
set
Constraints
(
edge
=
'grasp-ball'
,
constraints
=
\
graph
.
add
Constraints
(
edge
=
'grasp-ball'
,
constraints
=
\
Constraints
(
numConstraints
=
[
'placement/complement'
]))
Constraints
(
numConstraints
=
[
'placement/complement'
]))
# These edges are in node 'grasp'
# These edges are in node 'grasp'
graph
.
set
Constraints
(
edge
=
'transfer'
,
constraints
=
Constraints
())
graph
.
add
Constraints
(
edge
=
'transfer'
,
constraints
=
Constraints
())
graph
.
set
Constraints
(
edge
=
'release-ball'
,
constraints
=
Constraints
())
graph
.
add
Constraints
(
edge
=
'release-ball'
,
constraints
=
Constraints
())
ps
.
selectPathValidation
(
"Dichotomy"
,
0
)
ps
.
selectPathValidation
(
"Dichotomy"
,
0
)
ps
.
selectPathProjector
(
"Progressive"
,
0.1
)
ps
.
selectPathProjector
(
"Progressive"
,
0.1
)
graph
.
initialize
()
graph
.
initialize
()
...
...
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