Commit 70fefa05 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

Merge tag 'v4.4.0'

Release of version 4.4.0.
parents 1d8581dc c7c17ece
Pipeline #4750 failed with stage
in 5 minutes and 39 seconds
......@@ -18,9 +18,9 @@
// <http://www.gnu.org/licenses/>.
#ifndef HPP_WHOLEBODY_STEP_CORBA_IDL
# define HPP_WHOLEBODY_STEP_CORBA_IDL
#define HPP_WHOLEBODY_STEP_CORBA_IDL
# include <hpp/corbaserver/common.idl>
#include <hpp/corbaserver/common.idl>
module hpp {
module corbaserver {
......@@ -28,6 +28,10 @@ module hpp {
interface Problem {
/// Type of static stability constraints.
/// \deprecated Use
/// hpp::corbaserver::robot::HumanoidRobot::createSlidingStabilityConstraint
/// hpp::corbaserver::robot::HumanoidRobot::createStaticStabilityConstraint
/// hpp::corbaserver::robot::HumanoidRobot::createAlignedCOMStabilityConstraint
enum StaticStabilityType {
/// Corresponds to a robot sliding on the floor, the relative position
/// ot the feet being constant. It contains five following constraints:
......@@ -38,6 +42,9 @@ module hpp {
/// \li prefix + "/relative-position": relative position of the feet,
/// \li prefix + "/orientation-left-foot": orientation of the left foot,
/// \li prefix + "/position-left-foot": position of the left foot.
///
/// \deprecated Use
/// hpp::corbaserver::robot::HumanoidRobot::createSlidingStabilityConstraint
SLIDING,
/// Corresponds to a robot sliding on two feets, the COM between the
/// the feet. The feet are constrained to stay on the floor, parallel to
......@@ -48,26 +55,25 @@ module hpp {
/// \li prefix + "/position-right": height of the right foot,
/// \li prefix + "/orientation-left": left foot remains horizontal,
/// \li prefix + "/position-left": height of the left foot.
///
/// \deprecated Use
/// hpp::corbaserver::robot::HumanoidRobot::createAlignedCOMStabilityConstraint
SLIDING_ALIGNED_COM,
/// Same as SLIDING except that the feet are fixed on the ground
/// \deprecated Use
/// hpp::corbaserver::robot::HumanoidRobot::createStaticStabilityConstraint
FIXED_ON_THE_GROUND,
/// Same as SLIDING_ALIGNED_COM, except that the feet are fixed on the
/// ground
/// \deprecated Use
/// hpp::corbaserver::robot::HumanoidRobot::createAlignedCOMStabilityConstraint
FIXED_ALIGNED_COM
};
/// Create static stability constraints and store into ProblemSolver
/// \param prefix prefix of the names of the constraint as stored in
/// core::ProblemSolver,
/// \param floatArray input configuration for computing constraint reference,
/// \param leftAnkle, rightAnkle: names of the ankle joints.
/// \param comName name of the PartialCOM in the problem solver map. Put "" for
/// a full COM computations.
/// \param type type of static stability constraints you wish to create.
///
/// The constraints are stored in the core::ProblemSolver constraints map
/// and are accessible through the method
/// core::ProblemSolver::addNumericalConstraint:
/// \deprecated Use
/// hpp::corbaserver::robot::HumanoidRobot::createSlidingStabilityConstraint
/// hpp::corbaserver::robot::HumanoidRobot::createStaticStabilityConstraint
/// hpp::corbaserver::robot::HumanoidRobot::createAlignedCOMStabilityConstraint
void addStaticStabilityConstraints (in string prefix,
in floatSeq floatArray,
in string leftAnkle,
......@@ -75,12 +81,6 @@ module hpp {
in string comName,
in StaticStabilityType type)
raises (Error);
/// Generate a goal configuration.
/// \param x, y, z: desired position of the end effector (right hand)
/// \param nbConfig Number of goal configurations to generate.
void generateGoalConfig (in double x, in double y, in double z,
in unsigned short nbConfig) raises (Error);
}; //interface Problem
}; // module wholebody_step
}; // module corbaserver
......
......@@ -198,13 +198,6 @@ namespace hpp {
throw Error (exc.what ());
}
}
void Problem::generateGoalConfig
(CORBA::Double, CORBA::Double, CORBA::Double,
CORBA::UShort) throw (hpp::Error)
{
assert (problemSolver());
}
} // namespace impl
} // namespace wholebodyStep
} // namespace hpp
......@@ -47,11 +47,6 @@ namespace hpp {
const StaticStabilityType type)
throw (hpp::Error);
virtual void
generateGoalConfig (CORBA::Double x, CORBA::Double y, CORBA::Double z,
CORBA::UShort nbConfig)
throw (hpp::Error);
private:
core::ProblemSolverPtr_t problemSolver();
Server* server_;
......
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