From f0da4e4d43fff15546c9fc01834308e6d83d2f4b Mon Sep 17 00:00:00 2001 From: Steve Tonneau <stonneau@axle.laas.fr> Date: Mon, 19 Oct 2015 16:57:37 +0200 Subject: [PATCH] hyq darpa --- CMakeLists.txt | 8 +- data/blender/darpareduced.blend | Bin 0 -> 647480 bytes data/meshes/darpa.stl | Bin 0 -> 31384 bytes data/meshes/darpareduced.stl | Bin 0 -> 18884 bytes data/meshes/groundcrouch.stl | Bin 0 -> 784 bytes data/meshes/hyq/hyq_trunk.stl | Bin 684 -> 684 bytes data/meshes/stair_bauzil.stl | Bin 3184 -> 3684 bytes data/meshes/stair_bauzil_reduced.stl | Bin 3184 -> 3784 bytes data/srdf/darpa.srdf | 18 ++++ data/srdf/groundcrouch.srdf | 18 ++++ data/urdf/darpa.urdf | 19 ++++ data/urdf/groundcrouch.urdf | 19 ++++ idl/hpp/corbaserver/rbprm/rbprmbuilder.idl | 7 ++ script/scenarios/darpa_hyq_interp.py | 101 +++++++++++++++++++ script/scenarios/darpa_hyq_path.py | 58 +++++++++++ script/scenarios/ground_crouch_hyq_interp.py | 91 +++++++++++++++++ script/scenarios/ground_crouch_hyq_path.py | 61 +++++++++++ src/rbprmbuilder.impl.cc | 2 +- 18 files changed, 400 insertions(+), 2 deletions(-) create mode 100644 data/blender/darpareduced.blend create mode 100644 data/meshes/darpa.stl create mode 100644 data/meshes/darpareduced.stl create mode 100644 data/meshes/groundcrouch.stl create mode 100644 data/srdf/darpa.srdf create mode 100644 data/srdf/groundcrouch.srdf create mode 100644 data/urdf/darpa.urdf create mode 100644 data/urdf/groundcrouch.urdf create mode 100644 script/scenarios/darpa_hyq_interp.py create mode 100644 script/scenarios/darpa_hyq_path.py create mode 100644 script/scenarios/ground_crouch_hyq_interp.py create mode 100644 script/scenarios/ground_crouch_hyq_path.py diff --git a/CMakeLists.txt b/CMakeLists.txt index e6e3121b..9bfc7fe5 100755 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -83,6 +83,8 @@ install(FILES data/urdf/climb.urdf data/urdf/stepladder.urdf data/urdf/ground.urdf + data/urdf/groundcrouch.urdf + data/urdf/darpa.urdf #~ data/urdf/scene2.urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf ) @@ -109,10 +111,14 @@ install(FILES data/srdf/climb.srdf data/srdf/stepladder.srdf data/srdf/ground.srdf + data/srdf/groundcrouch.srdf + data/srdf/darpa.srdf #~ data/srdf/scene2.srdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/srdf ) install(FILES + data/meshes/darpa.stl + data/meshes/darpareduced.stl data/meshes/car.stl data/meshes/car_simple.stl data/meshes/hrp2_trunk.stl @@ -129,7 +135,7 @@ install(FILES data/meshes/robot_box.stl data/meshes/chair_simple.stl data/meshes/ground.stl - data/meshes/ground_table.stl + data/meshes/groundcrouch.stl data/meshes/truck.stl data/meshes/truck_vision.stl data/meshes/stair_bauzil.stl diff --git a/data/blender/darpareduced.blend b/data/blender/darpareduced.blend new file mode 100644 index 0000000000000000000000000000000000000000..3148e42e921f8a4ee713011d420f9be1b53d6472 GIT binary patch literal 647480 zcmeFa34k1Bo&H~QkTl2<5hRHSgSe6fIl~dI%uEhwZcHMeKQ%KX6J~TW6DJc0>XH#W 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<position> 0 0 0 1 0 0 0 </position> + <link name="base_link"/> + </handle> + <handle name="handle2"> + <position> 0 0 0 + 0 0 0.7071067811865476 0.7071067811865476 </position> + <link name="base_link"/> + </handle> + <contact name="box_surface"> + <link name="base_link"/> + <point>-0.025 -0.025 -0.025 -0.025 0.025 -0.025 -0.025 -0.025 0.025 -0.025 0.025 0.025 + +0.025 -0.025 -0.025 +0.025 0.025 -0.025 +0.025 -0.025 0.025 +0.025 0.025 0.025 </point> + <triangle> 0 2 1 4 5 6</triangle> + </contact> +</robot> diff --git a/data/srdf/groundcrouch.srdf b/data/srdf/groundcrouch.srdf new file mode 100644 index 00000000..36f8dce5 --- /dev/null +++ b/data/srdf/groundcrouch.srdf @@ -0,0 +1,18 @@ +<?xml version="1.0"?> +<robot name="groundcrouch"> + <handle name="handle"> + <position> 0 0 0 1 0 0 0 </position> + <link name="base_link"/> + </handle> + <handle name="handle2"> + <position> 0 0 0 + 0 0 0.7071067811865476 0.7071067811865476 </position> + <link name="base_link"/> + </handle> + <contact name="box_surface"> + <link name="base_link"/> + <point>-0.025 -0.025 -0.025 -0.025 0.025 -0.025 -0.025 -0.025 0.025 -0.025 0.025 0.025 + +0.025 -0.025 -0.025 +0.025 0.025 -0.025 +0.025 -0.025 0.025 +0.025 0.025 0.025 </point> + <triangle> 0 2 1 4 5 6</triangle> + </contact> +</robot> diff --git a/data/urdf/darpa.urdf b/data/urdf/darpa.urdf new file mode 100644 index 00000000..24ab2add --- /dev/null +++ b/data/urdf/darpa.urdf @@ -0,0 +1,19 @@ +<robot name="chair"> + <link name="base_link"> + <visual> + <origin xyz="0 0 0" rpy="0 0 0" /> + <geometry> + <mesh filename="package:///../hpp-rbprm-corba/meshes/darpareduced.stl"/> + </geometry> + <material name="white"> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <origin xyz="0 0 0" rpy="0 0 0" /> + <geometry> + <mesh filename="package://hpp-rbprm-corba/meshes/darpareduced.stl"/> + </geometry> + </collision> + </link> +</robot> diff --git a/data/urdf/groundcrouch.urdf b/data/urdf/groundcrouch.urdf new file mode 100644 index 00000000..9412754a --- /dev/null +++ b/data/urdf/groundcrouch.urdf @@ -0,0 +1,19 @@ +<robot name="chair"> + <link name="base_link"> + <visual> + <origin xyz="0 0 0" rpy="0 0 0" /> + <geometry> + <mesh filename="package:///../hpp-rbprm-corba/meshes/groundcrouch.stl"/> + </geometry> + <material name="white"> + <color rgba="1 1 1 1"/> + </material> + </visual> + <collision> + <origin xyz="0 0 0" rpy="0 0 0" /> + <geometry> + <mesh filename="package://hpp-rbprm-corba/meshes/groundcrouch.stl"/> + </geometry> + </collision> + </link> +</robot> diff --git a/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl b/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl index d8ea4e38..40c7b85d 100755 --- a/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl +++ b/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl @@ -106,6 +106,13 @@ module hpp /// void setNormalFilter(in string romName, in floatSeq normal, in double range) raises (Error); + /// Sets limits on robot orientation, described according to Euler's ZYX rotation order + /// + /// \param limitszyx 6D vector with the lower and upperBound for each rotation axis in sequence + /// expressed in gradients + /// [z_inf, z_sup, y_inf, y_sup, x_inf, x_sup] + void boundSO3(in floatSeq limitszyx) raises (Error); + /// Get Sample configuration by its id /// \param sampleName name of the limb from which to retrieve a sample /// \param sampleId id of the desired samples diff --git a/script/scenarios/darpa_hyq_interp.py b/script/scenarios/darpa_hyq_interp.py new file mode 100644 index 00000000..4cf5a658 --- /dev/null +++ b/script/scenarios/darpa_hyq_interp.py @@ -0,0 +1,101 @@ +from hpp.corbaserver.rbprm.rbprmbuilder import Builder +from hpp.corbaserver.rbprm.rbprmfullbody import FullBody +from hpp.gepetto import Viewer + +import darpa_hyq_path as tp + +packageName = "hyq_description" +meshPackageName = "hyq_description" +rootJointType = "freeflyer" +## +# Information to retrieve urdf and srdf files. +urdfName = "hyq" +urdfSuffix = "" +srdfSuffix = "" + +fullBody = FullBody () + +fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix) + +from hpp.corbaserver.rbprm.problem_solver import ProblemSolver + +nbSamples = 10000 + +ps = tp.ProblemSolver( fullBody ) +r = tp.Viewer (ps) + +rootName = 'base_joint_xyz' + +#~ AFTER loading obstacles +rLegId = 'rfleg' +rLeg = 'rf_haa_joint' +rfoot = 'rf_foot_joint' +rLegOffset = [0.,0,0.] +rLegNormal = [0,1,0] +rLegx = 0.02; rLegy = 0.02 +fullBody.addLimb(rLegId,rLeg,rfoot,rLegOffset,rLegNormal, rLegx, rLegy, nbSamples, "forward", 0.05) +#~ fullBody.addLimb(rLegId,rLeg,rfoot,rLegOffset,rLegNormal, rLegx, rLegy, nbSamples, "manipulability", 0.05) +#~ fullBody.addLimb(rLegId,rLeg,rfoot,rLegOffset,rLegNormal, rLegx, rLegy, nbSamples, "random", 0.05) + +lLegId = 'lhleg' +lLeg = 'lh_haa_joint' +lfoot = 'lh_foot_joint' +lLegOffset = [0,0,0] +lLegNormal = [0,1,0] +lLegx = 0.02; lLegy = 0.02 +fullBody.addLimb(lLegId,lLeg,lfoot,lLegOffset,rLegNormal, lLegx, lLegy, nbSamples, "forward", 0.05) +#~ fullBody.addLimb(lLegId,lLeg,lfoot,lLegOffset,rLegNormal, lLegx, lLegy, nbSamples, "manipulability", 0.05) +#~ fullBody.addLimb(lLegId,lLeg,lfoot,lLegOffset,rLegNormal, lLegx, lLegy, nbSamples, "random", 0.05) + +rarmId = 'rhleg' +rarm = 'rh_haa_joint' +rHand = 'rh_foot_joint' +rArmOffset = [0.,0,-0.] +rArmNormal = [0,1,0] +rArmx = 0.02; rArmy = 0.02 +fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, nbSamples, "forward", 0.05) +#~ fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, nbSamples, "manipulability", 0.05) +#~ fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, nbSamples, "random", 0.05) + +larmId = 'lfleg' +larm = 'lf_haa_joint' +lHand = 'lf_foot_joint' +lArmOffset = [0.,0,-0.] +lArmNormal = [0,1,0] +lArmx = 0.02; lArmy = 0.02 +fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, nbSamples, "forward", 0.05) +#~ fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, nbSamples, "manipulability", 0.05) +#~ fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, nbSamples, "random", 0.05) + +q_0 = fullBody.getCurrentConfig(); +q_init = fullBody.getCurrentConfig(); q_init[0:7] = tp.q_init[0:7] +q_goal = fullBody.getCurrentConfig(); q_goal[0:7] = tp.q_goal[0:7] + + +fullBody.setCurrentConfig (q_init) +q_init = fullBody.generateContacts(q_init, [0,0,1]) +q_0 = fullBody.getCurrentConfig(); + +fullBody.setCurrentConfig (q_goal) +q_goal = fullBody.generateContacts(q_goal, [0,0,1]) + +fullBody.setStartState(q_init,[]) +fullBody.setEndState(q_goal,[rLegId,lLegId,rarmId,larmId]) + +r(q_init) + +configs = fullBody.interpolate(0.1) + +r.loadObstacleModel ('hpp-rbprm-corba', "darpa", "contact") + +i = 0; +#~ r (configs[i]); i=i+1; i-1 + +q0 = configs[2] +q0 = fullBody.generateContacts(q0, [0,0,1]) +#~ r(q0) +q_init [0:3] = [0, 0, 0.63]; r(q_init) +c = fullBody.getContactSamplesIds("rfleg",q_init, [1,0,0]) +r(fullBody.getSample("rfleg",int(c[i]))); i = i+1 + + diff --git a/script/scenarios/darpa_hyq_path.py b/script/scenarios/darpa_hyq_path.py new file mode 100644 index 00000000..77a3b5bf --- /dev/null +++ b/script/scenarios/darpa_hyq_path.py @@ -0,0 +1,58 @@ +from hpp.corbaserver.rbprm.rbprmbuilder import Builder +from hpp.gepetto import Viewer + +rootJointType = 'freeflyer' +packageName = 'hpp-rbprm-corba' +meshPackageName = 'hpp-rbprm-corba' +urdfName = 'hyq_trunk' +urdfNameRom = ['hyq_lhleg_rom','hyq_lfleg_rom','hyq_rfleg_rom','hyq_rhleg_rom'] +urdfSuffix = "" +srdfSuffix = "" + +rbprmBuilder = Builder () + +rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix) +rbprmBuilder.setJointBounds ("base_joint_xyz", [-2,5, -1, 1, 0, 4]) +rbprmBuilder.setFilter(['hyq_rhleg_rom', 'hyq_lfleg_rom', 'hyq_rfleg_rom','hyq_lhleg_rom']) +rbprmBuilder.setNormalFilter('hyq_lhleg_rom', [0,0,1], 0.5) +rbprmBuilder.setNormalFilter('hyq_rfleg_rom', [0,0,1], 0.5) +rbprmBuilder.setNormalFilter('hyq_lfleg_rom', [0,0,1], 0.5) +rbprmBuilder.setNormalFilter('hyq_rhleg_rom', [0,0,1], 0.5) +rbprmBuilder.boundSO3([-0.4,0.4,-3,3,-3,3]) + +#~ from hpp.corbaserver.rbprm. import ProblemSolver +from hpp.corbaserver.rbprm.problem_solver import ProblemSolver + +ps = ProblemSolver( rbprmBuilder ) + +r = Viewer (ps) + + +q_init = rbprmBuilder.getCurrentConfig (); +q_init [0:3] = [-1.5, 0, 0.63]; rbprmBuilder.setCurrentConfig (q_init); r (q_init) +#~ q_init [0:3] = [2, 0, 0.63]; rbprmBuilder.setCurrentConfig (q_init); r (q_init) + +q_goal = q_init [::] +q_goal [0:3] = [3, 0, 0.63]; r (q_goal) + +#~ ps.addPathOptimizer("GradientBased") +ps.addPathOptimizer("RandomShortcut") +ps.setInitialConfig (q_init) +ps.addGoalConfig (q_goal) + +ps.client.problem.selectConFigurationShooter("RbprmShooter") +ps.client.problem.selectPathValidation("RbprmPathValidation",0.01) +r.loadObstacleModel (packageName, "darpa", "planning") +ps.solve () + + +from hpp.gepetto import PathPlayer +pp = PathPlayer (rbprmBuilder.client.basic, r) +#~ pp.fromFile("/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/stair.path") +#~ +#~ pp (2) +#~ pp (0) + +pp (1) +#~ pp.toFile(1, "/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/stair.path") +r (q_init) diff --git a/script/scenarios/ground_crouch_hyq_interp.py b/script/scenarios/ground_crouch_hyq_interp.py new file mode 100644 index 00000000..a1e95eac --- /dev/null +++ b/script/scenarios/ground_crouch_hyq_interp.py @@ -0,0 +1,91 @@ +from hpp.corbaserver.rbprm.rbprmbuilder import Builder +from hpp.corbaserver.rbprm.rbprmfullbody import FullBody +from hpp.gepetto import Viewer + +import ground_crouch_hyq_path as tp + +packageName = "hyq_description" +meshPackageName = "hyq_description" +rootJointType = "freeflyer" +## +# Information to retrieve urdf and srdf files. +urdfName = "hyq" +urdfSuffix = "" +srdfSuffix = "" + +fullBody = FullBody () + +fullBody.loadFullBodyModel(urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix) + +from hpp.corbaserver.rbprm.problem_solver import ProblemSolver + +nbSamples = 10000 + +ps = tp.ProblemSolver( fullBody ) +r = tp.Viewer (ps) + +rootName = 'base_joint_xyz' + +#~ AFTER loading obstacles +rLegId = 'rfleg' +rLeg = 'rf_haa_joint' +rfoot = 'rf_foot_joint' +rLegOffset = [0.,0,0.] +rLegNormal = [0,1,0] +rLegx = 0.02; rLegy = 0.02 +fullBody.addLimb(rLegId,rLeg,rfoot,rLegOffset,rLegNormal, rLegx, rLegy, nbSamples, "random", 0.03) + +lLegId = 'lhleg' +lLeg = 'lh_haa_joint' +lfoot = 'lh_foot_joint' +lLegOffset = [0,0,0] +lLegNormal = [0,1,0] +lLegx = 0.02; lLegy = 0.02 +fullBody.addLimb(lLegId,lLeg,lfoot,lLegOffset,rLegNormal, lLegx, lLegy, nbSamples, "random", 0.03) + +rarmId = 'rhleg' +rarm = 'rh_haa_joint' +rHand = 'rh_foot_joint' +rArmOffset = [0.,0,-0.] +rArmNormal = [0,1,0] +rArmx = 0.02; rArmy = 0.02 +fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, nbSamples, "random", 0.03) + +larmId = 'lfleg' +larm = 'lf_haa_joint' +lHand = 'lf_foot_joint' +lArmOffset = [0.,0,-0.] +lArmNormal = [0,1,0] +lArmx = 0.02; lArmy = 0.02 +fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, nbSamples, "random", 0.03) + +q_0 = fullBody.getCurrentConfig(); +q_init = fullBody.getCurrentConfig(); q_init[0:7] = tp.q_init[0:7] +q_goal = fullBody.getCurrentConfig(); q_goal[0:7] = tp.q_goal[0:7] + + +fullBody.setCurrentConfig (q_init) +q_init = fullBody.generateContacts(q_init, [0,0,1]) +q_0 = fullBody.getCurrentConfig(); + +fullBody.setCurrentConfig (q_goal) +q_goal = fullBody.generateContacts(q_goal, [0,0,1]) + +fullBody.setStartState(q_init,[]) +fullBody.setEndState(q_goal,[rLegId,lLegId,rarmId,larmId]) + +r(q_init) + +#~ configs = fullBody.interpolate(0.1) + +r.loadObstacleModel ('hpp-rbprm-corba', "groundcrouch", "contact") + +i = 0; +r (configs[i]); i=i+1; i-1 + +q0 = configs[2] +q0 = fullBody.generateContacts(q0, [0,0,1]) +r(q0) +c = fullBody.getContactSamplesIds("rfleg",q_init, [0,0,1]) +r(fullBody.getSample("rfleg",int(c[i]))); i = i+1 + diff --git a/script/scenarios/ground_crouch_hyq_path.py b/script/scenarios/ground_crouch_hyq_path.py new file mode 100644 index 00000000..b69738ed --- /dev/null +++ b/script/scenarios/ground_crouch_hyq_path.py @@ -0,0 +1,61 @@ +from hpp.corbaserver.rbprm.rbprmbuilder import Builder +from hpp.gepetto import Viewer + +rootJointType = 'freeflyer' +packageName = 'hpp-rbprm-corba' +meshPackageName = 'hpp-rbprm-corba' +urdfName = 'hyq_trunk' +urdfNameRom = ['hyq_lhleg_rom','hyq_lhleg_rom','hyq_rfleg_rom','hyq_rhleg_rom'] +urdfSuffix = "" +srdfSuffix = "" + +rbprmBuilder = Builder () + +rbprmBuilder.loadModel(urdfName, urdfNameRom, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix) +rbprmBuilder.setJointBounds ("base_joint_xyz", [-1,5, -1, 1, 0, 2]) +rbprmBuilder.setFilter(['hyq_lhleg_rom' , 'hyq_rfleg_rom']) +rbprmBuilder.setNormalFilter('hyq_lhleg_rom', [0,0,1], 0.9) +rbprmBuilder.setNormalFilter('hyq_rfleg_rom', [0,0,1], 0.9) +rbprmBuilder.setNormalFilter('hyq_lfleg_rom', [0,0,1], 0.9) +rbprmBuilder.setNormalFilter('hyq_rhleg_rom', [0,0,1], 0.9) +rbprmBuilder.boundSO3([-0.,0,-1,1,-1,1]) + +#~ from hpp.corbaserver.rbprm. import ProblemSolver +from hpp.corbaserver.rbprm.problem_solver import ProblemSolver + +ps = ProblemSolver( rbprmBuilder ) + +r = Viewer (ps) + + +q_init = rbprmBuilder.getCurrentConfig (); +q_init [0:3] = [-1, 0, 0.63]; rbprmBuilder.setCurrentConfig (q_init); r (q_init) +#~ q_init [0:3] = [0, -0.63, 0.6]; rbprmBuilder.setCurrentConfig (q_init); r (q_init) +#~ q_init [3:7] = [ 0.98877108, 0. , 0.14943813, 0. ] + +q_goal = q_init [::] +#~ q_goal [3:7] = [ 0.98877108, 0. , 0.14943813, 0. ] +q_goal [0:3] = [5, 0, 0.63]; r (q_goal) +#~ q_goal [0:3] = [1.2, -0.65, 1.1]; r (q_goal) + +#~ ps.addPathOptimizer("GradientBased") +ps.addPathOptimizer("RandomShortcut") +ps.setInitialConfig (q_init) +ps.addGoalConfig (q_goal) + +ps.client.problem.selectConFigurationShooter("RbprmShooter") +ps.client.problem.selectPathValidation("RbprmPathValidation",0.05) +r.loadObstacleModel (packageName, "groundcrouch", "planning") +ps.solve () + + +from hpp.gepetto import PathPlayer +pp = PathPlayer (rbprmBuilder.client.basic, r) +#~ pp.fromFile("/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/stair.path") +#~ +#~ pp (2) +#~ pp (0) + +pp (1) +#~ pp.toFile(1, "/home/stonneau/dev/hpp/src/hpp-rbprm-corba/script/paths/stair.path") +r (q_init) diff --git a/src/rbprmbuilder.impl.cc b/src/rbprmbuilder.impl.cc index 0ac4cdc1..9ec669a0 100755 --- a/src/rbprmbuilder.impl.cc +++ b/src/rbprmbuilder.impl.cc @@ -319,7 +319,7 @@ namespace hpp { for(model::ObjectVector_t::const_iterator oit = problemSolver_->collisionObstacles().begin(); oit != problemSolver_->collisionObstacles().end(); ++oit, ++i) { - sampling::GetCandidates(limb->sampleContainer_, transform, *oit, dir, reports[i]); + sampling::GetCandidates(limb->sampleContainer_, transform, transform, *oit, dir, reports[i]); } for(std::vector<sampling::T_OctreeReport>::const_iterator cit = reports.begin(); cit != reports.end(); ++cit) -- GitLab