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Jason Chemin
Multicontact-api
Commits
3dd0743a
Commit
3dd0743a
authored
Apr 16, 2019
by
Guilhem Saurel
Browse files
Merge tag 'v1.1.0'
Release of version 1.1.0.
parents
9c44f9f8
e141335e
Changes
3
Hide whitespace changes
Inline
Side-by-side
bindings/python/__init__.py
0 → 100644
View file @
3dd0743a
# Copyright (c) 2015-2018, CNRS
# Authors: Justin Carpentier <jcarpent@laas.fr>
from
libmulticontact_api
import
*
import
numpy
as
np
include/multicontact-api/bindings/python/scenario/contact-phase-humanoid.hpp
View file @
3dd0743a
...
...
@@ -79,7 +79,9 @@ namespace multicontact_api
.
def_readwrite
(
"reference_configurations"
,
&
ContactPhase
::
m_reference_configurations
)
.
def_readwrite
(
"raw_control_trajectory"
,
&
ContactPhase
::
m_raw_control_trajectory
)
.
def_readwrite
(
"angular_momentum_ref"
,
&
ContactPhase
::
m_angular_momentum_ref
)
.
def_readwrite
(
"com_ref"
,
&
ContactPhase
::
m_com_ref
)
.
def_readwrite
(
"vcom_ref"
,
&
ContactPhase
::
m_vcom_ref
)
.
def_readwrite
(
"forces_ref"
,
&
ContactPhase
::
m_forces_ref
)
.
add_property
(
"contact_forces_trajectories"
,
bp
::
make_array
(
&
ContactPhase
::
m_contact_forces_trajectories
))
.
def
(
bp
::
self
==
bp
::
self
)
...
...
include/multicontact-api/scenario/contact-phase-humanoid.hpp
View file @
3dd0743a
...
...
@@ -66,7 +66,8 @@ namespace multicontact_api
typedef
boost
::
array
<
VectorForce
,
4
>
ForceVectorArray
;
typedef
trajectories
::
CubicHermiteSplineTpl
<
Scalar
,
3
>
CubicHermiteSpline3
;
typedef
trajectories
::
CubicHermiteSplineTpl
<
Scalar
,
24
>
CubicHermiteSpline24
;
using
Base
::
dim
;
using
Base
::
operator
==
;
using
typename
Base
::
ContactPatch
;
...
...
@@ -88,6 +89,9 @@ namespace multicontact_api
,
m_objective_trajectory
(
0
)
,
m_raw_control_trajectory
(
0
)
,
m_angular_momentum_ref
(
CubicHermiteSpline3
::
Constant
(
CubicHermiteSpline3
::
VectorD
::
Zero
()))
,
m_com_ref
(
CubicHermiteSpline3
::
Constant
(
CubicHermiteSpline3
::
VectorD
::
Zero
()))
,
m_vcom_ref
(
CubicHermiteSpline3
::
Constant
(
CubicHermiteSpline3
::
VectorD
::
Zero
()))
,
m_forces_ref
(
CubicHermiteSpline24
::
Constant
(
CubicHermiteSpline24
::
VectorD
::
Zero
()))
,
m_reference_configurations
(
0
)
{}
...
...
@@ -108,6 +112,9 @@ namespace multicontact_api
,
m_contact_forces_trajectories
(
other
.
m_contact_forces_trajectories
)
,
m_raw_control_trajectory
(
other
.
m_raw_control_trajectory
)
,
m_angular_momentum_ref
(
other
.
m_angular_momentum_ref
)
,
m_com_ref
(
other
.
m_com_ref
)
,
m_vcom_ref
(
other
.
m_vcom_ref
)
,
m_forces_ref
(
other
.
m_forces_ref
)
,
m_reference_configurations
(
other
.
m_reference_configurations
)
{}
...
...
@@ -126,6 +133,9 @@ namespace multicontact_api
m_contact_forces_trajectories
=
other
.
m_contact_forces_trajectories
;
m_raw_control_trajectory
=
other
.
m_raw_control_trajectory
;
m_angular_momentum_ref
=
other
.
m_angular_momentum_ref
;
m_com_ref
=
other
.
m_com_ref
;
m_vcom_ref
=
other
.
m_vcom_ref
;
m_forces_ref
=
other
.
m_forces_ref
;
m_reference_configurations
=
other
.
m_reference_configurations
;
return
*
this
;
}
...
...
@@ -147,7 +157,9 @@ namespace multicontact_api
ForceVectorArray
m_contact_forces_trajectories
;
VectorConfigurationVector
m_raw_control_trajectory
;
CubicHermiteSpline3
m_angular_momentum_ref
;
CubicHermiteSpline3
m_com_ref
;
CubicHermiteSpline3
m_vcom_ref
;
CubicHermiteSpline24
m_forces_ref
;
private:
...
...
@@ -180,6 +192,9 @@ namespace multicontact_api
// static_cast<const typename VectorConfigurationVector::vector_base&> (m_raw_control_trajectory);
ar
&
boost
::
serialization
::
make_nvp
(
"raw_control"
,
m_raw_control_trajectory
);
ar
&
boost
::
serialization
::
make_nvp
(
"angular_momentum_ref"
,
m_angular_momentum_ref
);
ar
&
boost
::
serialization
::
make_nvp
(
"com_ref"
,
m_com_ref
);
ar
&
boost
::
serialization
::
make_nvp
(
"vcom_ref"
,
m_vcom_ref
);
ar
&
boost
::
serialization
::
make_nvp
(
"forces_ref"
,
m_forces_ref
);
}
template
<
class
Archive
>
...
...
@@ -209,6 +224,9 @@ namespace multicontact_api
// static_cast<typename VectorConfigurationVector::vector_base&> (m_raw_control_trajectory);
ar
>>
boost
::
serialization
::
make_nvp
(
"raw_control"
,
m_raw_control_trajectory
);
ar
>>
boost
::
serialization
::
make_nvp
(
"angular_momentum_ref"
,
m_angular_momentum_ref
);
ar
>>
boost
::
serialization
::
make_nvp
(
"com_ref"
,
m_com_ref
);
ar
>>
boost
::
serialization
::
make_nvp
(
"vcom_ref"
,
m_vcom_ref
);
ar
>>
boost
::
serialization
::
make_nvp
(
"forces_ref"
,
m_forces_ref
);
}
BOOST_SERIALIZATION_SPLIT_MEMBER
()
...
...
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