Commit a26a533d authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Adapt to parameter-server modification.

parent 5e56700b
......@@ -536,9 +536,7 @@ def create_dcm_com_controller(Kp, Ki, dt, robot, dcmSignal):
return controller
def create_parameter_server(conf, dt, robot_name='robot'):
param_server = ParameterServer("param_server")
def fill_parameter_server(param_server,conf, dt, robot_name='robot'):
# Init should be called before addCtrlMode
# because the size of state vector must be known.
param_server.init(dt, conf.urdfFileName, robot_name)
......@@ -575,6 +573,9 @@ def create_parameter_server(conf, dt, robot_name='robot'):
return param_server
def create_parameter_server(conf, dt, robot_name='robot'):
param_server = ParameterServer("param_server")
fill_parameter_server(param_server,conf,dt,robot_name)
def create_example(robot_name='robot', firstAdd=0., secondAdd=0.):
example = Example('example')
......@@ -696,4 +697,3 @@ def reload_folder(robot, folder, zmp=False):
set_trigger(robot, False)
load_folder(robot, folder, zmp)
set_trigger(robot, True)
......@@ -31,7 +31,7 @@ g = 9.81
omega = sqrt(g / h)
# --- Parameter server
robot.param_server = create_parameter_server(param_server_conf, dt)
fill_parameter_server(robot.param_server,param_server_conf, dt)
# --- Initial feet and waist
robot.dynamic.createOpPoint('LF', robot.OperationalPointsMap['left-ankle'])
......
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