Commit f5affdf4 authored by Olivier Stasse's avatar Olivier Stasse Committed by olivier stasse
Browse files

[cmake] Fix library

[python] Remove path hard coded
parent 7032e7d8
......@@ -67,6 +67,8 @@ FOREACH(plugin ${plugins})
ENDIF(BUILD_PYTHON_INTERFACE)
ENDFOREACH(plugin)
TARGET_LINK_LIBRARIES(distribute-wrench eiquadprog::eiquadprog)
IF(BUILD_PYTHON_INTERFACE)
SOT_TALOS_BALANCE_PYTHON_MODULE("" ${PROJECT_NAME} wrap)
......
......@@ -45,4 +45,3 @@ SET(${PROJECT_NAME}_SIMULATION_FILES
FOREACH(python ${${PROJECT_NAME}_SIMULATION_FILES})
INSTALL(FILES ${python} DESTINATION ${PYTHON_SITELIB}/${SOTTALOSBALANCE_PYNAME}/test)
ENDFOREACH(python ${${PROJECT_NAME}_SIMULATION_FILES})
......@@ -32,21 +32,8 @@ from sot_talos_balance.create_entities_utils import *
# ADDED FROM APPLI ONLINE ISABELLE #
#from dynamic_graph.sot.pattern_generator import PatternGenerator #ERROR: "DOESN't EXIST", indeed ...
# TRYING IMPORTING THE PACKAGE FROM DEVEL-SRC
#sys.path.insert(0, "/home/lscherrer/devel-src/sot_bionic_ws/install/lib/python2.7/site-packages/dynamic_graph/sot/pattern_generator") #doesn't work
#sys.path.insert(0, "/home/lscherrer/devel-src/sot_bionic_ws/install/lib/python2.7/site-packages/dynamic_graph/sot/pattern_generator/pg") # either
#sys.path.insert(0, "/home/lscherrer/devel-src/sot_bionic_ws/install/lib/python2.7/site-packages/dynamic_graph/sot")#either
#sys.path.insert(0, "/home/lscherrer/devel-src/sot_bionic_ws/install/lib/python2.7/site-packages")#either: needs an __init__.py, in pattern_generator
#sys.path.append("/home/lscherrer/devel-src/sot_bionic_ws/install/lib/python2.7/site-packages")#either: : needs an __init__.py, in pattern_generator
#sys.path.append("/home/lscherrer/devel-src/sot_bionic_ws/install/lib/python2.7/site-packages/dynamic_graph")#either
#sys.path.append("/home/lscherrer/devel-src/sot_bionic_ws/install/lib/python2.7/site-packages/dynamic_graph/sot/")
# LOCAL VERSION
#sys.path.append("/local/lscherrer/lscherrer/devel-src/sot_bionic_ws/install/lib/python2.7/site-packages/dynamic_graph/sot/")
# new path
sys.path.append("/local/lscherrer/lscherrer/sot_ws/install/lib/python2.7/site-packages/dynamic_graph/sot/")
from pattern_generator import PatternGenerator # this works, not very pretty but works for now
# END ADDED
from dynamic_graph.sot.pattern_generator import PatternGenerator
# 09.04.20 est a 100 dans dcmZmpControl_file, used to be 10
cm_conf.CTRL_MAX = 100.0 # temporary hack
......@@ -170,12 +157,9 @@ rospack = RosPack() ## DO I NEED THAT ?
robot.pg = PatternGenerator('pg')
# MODIFIED WITH MY PATHS
#robot.pg.setURDFpath("/local/imaroger/sot-pattern-generator/talos_reduced_wpg.urdf")
#robot.pg.setSRDFpath("/local/imaroger/sot-pattern-generator/talos_wpg.srdf")
#robot.pg.setURDFpath("/integration_tests/robotpkg-test-rc/install/share/talos_data/urdf/talos_reduced_wpg.urdf")
#robot.pg.setSRDFpath("/integration_tests/robotpkg-test-rc/install/share/talos_data/srdf/talos_wpg.srdf")
robot.pg.setURDFpath("/local/lscherrer/lscherrer/sot_ws/install/share/talos_data/urdf/talos_reduced_wpg.urdf")
robot.pg.setSRDFpath("/local/lscherrer/lscherrer/sot_ws/install/share/talos_data/srdf/talos_wpg.srdf")
talos_data_folder = rospack.get_path('talos_data')
robot.pg.setURDFpath(talos_data_folder+'/urdf/talos_reduced_wpg.urdf')
robot.pg.setSRDFpath(talos_data_folder+'/srdf/talos_wpg.srdf')
## END MODIFIED
robot.pg.buildModel()
......@@ -228,7 +212,7 @@ robot.pg.velocitydes.value=(0.1,0.0,0.0) # DEFAULT VALUE (0.1,0.0,0.0)
#robot.pg.displaySignals()
# -------------------------- TRIGGER --------------------------
# -------------------------- TRIGGER --------------------------
robot.triggerPG= BooleanIdentity('triggerPG')
robot.triggerPG.sin.value = 0
......@@ -260,7 +244,7 @@ wp.omega.value = omega
#plug(robot.pg.waistattitudeabsolute, robot.waistToMatrix.sin) # works
#plug(robot.waistToMatrix.sout, wp.waist)# waistToMatrix sort une matrice de rotation, waist prend une matrixHomo en entree...
# 22.04 after modifying pg.cpp, new way to try and connect the waist
plug(robot.pg.waistattitudematrix, wp.waist)
plug(robot.pg.waistattitudematrixabsolute, wp.waist)
#plug(robot.pg.waistattitudematrix, wp.waist)
# fin
......@@ -565,14 +549,14 @@ plug(robot.dvdt.sout, robot.dynamic.acceleration)
robot.publisher = create_rospublish(robot, 'robot_publisher')
## ADDED
## ADDED
create_topic(robot.publisher, robot.pg, 'comref', robot = robot, data_type='vector') # desired CoM
create_topic(robot.publisher, robot.pg, 'dcomref', robot = robot, data_type='vector')
#create_topic(robot.publisher, robot.wp, 'waistDes', robot = robot, data_type='matrixHomo')
create_topic(robot.publisher, robot.wp, 'waist', robot = robot, data_type='matrixHomo')
create_topic(robot.publisher, robot.keepWaist.featureDes, 'position', robot = robot, data_type='matrixHomo')
create_topic(robot.publisher, robot.dynamic, 'WT', robot = robot, data_type='matrixHomo')
create_topic(robot.publisher, robot.pg, 'waistattitudematrix', robot = robot, data_type='matrixHomo') ## que font ces lignes exactement ??
create_topic(robot.publisher, robot.pg, 'waistattitudematrixabsolute', robot = robot, data_type='matrixHomo') ## que font ces lignes exactement ??
#create_topic(robot.publisher, robot.pg, 'waistattitudeabsolute', robot = robot, data_type='vectorRPY')
create_topic(robot.publisher, robot.pg, 'leftfootref', robot = robot, data_type ='matrixHomo')
......@@ -635,8 +619,7 @@ robot.tracer = TracerRealTime("com_tracer")
robot.tracer.setBufferSize(80 * (2**20))
#robot.tracer.open('/tmp', 'dg_', '.dat') ## THIS LINE DIFFERENT, TO CHECK, BELOW SOME NAMES DIFFERENT, CHECK AS WELL
#REPLACED BY
#robot.tracer.open('/home/lscherrer/devel-src/sot_bionic_ws/src/sot-talos-balance/python/sot_talos_balance/test/test_results', 'dg_', '.dat')
robot.tracer.open('/local/lscherrer/lscherrer/sot_ws/src/sot-talos-balance/src/sot_talos_balance/test/test_results', 'dg_', '.dat')
robot.tracer.open('/tmp', 'dg_', '.dat')
#END REPLACED
......@@ -644,7 +627,7 @@ robot.tracer.open('/local/lscherrer/lscherrer/sot_ws/src/sot-talos-balance/src/s
# Info trouvee sur internet: 'Make sure signals are recomputed even if not used in the control graph'
robot.device.after.addSignal('{0}.triger'.format(robot.tracer.name))
# 30.03
# 30.03
#robot.device.after.addSignal('robot.pg.waist...') renvoie 'entity not found'
......@@ -666,7 +649,7 @@ addTrace(robot.tracer, robot.cdc_estimator, 'dc') # estimated CoM velocity
#addTrace(robot.tracer, robot.com_admittance_control, 'comRef') # reference CoM
# REPLACED BY and ADDED
addTrace(robot.tracer, robot.pg, 'comref')
addTrace(robot.tracer, robot.pg, 'dcomref')
addTrace(robot.tracer, robot.pg, 'dcomref')
addTrace(robot.tracer, robot.pg, 'ddcomref')
addTrace(robot.tracer, robot.pg, 'rightfootref')
......
......@@ -29,6 +29,8 @@ FOREACH(test ${tests})
TARGET_INCLUDE_DIRECTORIES(${test} PRIVATE $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
ENDFOREACH(test)
TARGET_LINK_LIBRARIES(test_distribute eiquadprog::eiquadprog)
IF(BUILD_PYTHON_INTERFACE)
ADD_SUBDIRECTORY(python)
ENDIF(BUILD_PYTHON_INTERFACE)
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