Merge remote-tracking branch 'upstream/devel'

Merge from stack-of-tasks/devel to proyan/master

Conflicts:
	src/pg.cpp

CMakeLists.txt

@@ -41,7 +41,7 @@ LIST(APPEND CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_SOURCE_DIR}/private_c
 MESSAGE(STATUS "CMAKE_MODULE_PATH: ${CMAKE_MODULE_PATH}")
 
 # Search for dependencies.
-ADD_REQUIRED_DEPENDENCY("jrl-walkgen >= 4.0.0")
+ADD_REQUIRED_DEPENDENCY("jrl-walkgen >= 3.2.0")
 ADD_REQUIRED_DEPENDENCY("pinocchio >= 1.2.0")
 ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
 ADD_REQUIRED_DEPENDENCY("sot-core >= 3.0")

include/sot-pattern-generator/pg.h

@@ -381,6 +381,9 @@ namespace dynamicgraph {
       /*! \brief Booleans used to indicate if feedback signals shoul be used or not */
       bool m_feedBackControl;
 
+      /*! \brief Booleans used to indicate if force feedback signals shoul be used or not */
+      bool m_forceFeedBack;
+
       /*! \brief Booleans used to indicate feet contacts */
       bool m_rightFootContact, m_leftFootContact;
 

private_cmake/config_private.hh.cmake

@@ -19,9 +19,4 @@
 // Package version (header).
 # define SOT_PATTERN_GENERATOR_CONFIG_VERSION "@PROJECT_VERSION@"
 
-// 
-#if @WITH_HRP2_DYNAMICS_BOOL@ //! WITH_HRP2_DYNAMICS?
-# define WITH_HRP2DYNAMICS
-#endif //! WITH_HRP2_DYNAMICS?
-
 #endif //! SOT_PATTERN_GENERATOR_CONFIG_PRIVATE_HH

src/CMakeLists.txt

@@ -15,6 +15,10 @@
 
 INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/include)
 
+# Make the config_private.hh file available
+#CONFIGURE_FILE(${CMAKE_SOURCE_DIR}/private_cmake/config_private.hh.cmake
+#               ${CMAKE_BINARY_DIR}/include/${HEADER_DIR}/config_private.hh)
+
 ADD_DEFINITIONS(-DDEBUG=2)
 
 SET(LIBRARY_NAME ${PROJECT_NAME})
@@ -106,7 +110,7 @@ FOREACH(LIBRARY_NAME ${plugins})
   PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} pinocchio)
   PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} sot-core)
 
-  INSTALL(TARGETS ${LIBRARY_NAME} DESTINATION ${DYNAMIC_GRAPH_PLUGINDIR})
+  INSTALL(TARGETS ${LIBRARY_NAME} DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}/plugin)
 
   # --- PY ---
   STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${LIBRARY_NAME})

src/dynamic_graph/sot/pattern_generator/walking.py

@@ -31,13 +31,13 @@ def initPg(robot):
   robot.pg.parseCmd(":walkmode 0")
   robot.pg.parseCmd(":omega 0.0")
   robot.pg.parseCmd(":stepheight 0.05")
-  robot.pg.parseCmd(":singlesupporttime 0.780")
-  robot.pg.parseCmd(":doublesupporttime 0.020")
+  robot.pg.parseCmd(":singlesupporttime 0.78")
+  robot.pg.parseCmd(":doublesupporttime 0.02")
   robot.pg.parseCmd(":armparameters 0.5")
   robot.pg.parseCmd(":LimitsFeasibility 0.0")
   robot.pg.parseCmd(":ZMPShiftParameters 0.015 0.015 0.015 0.015")
   robot.pg.parseCmd(":TimeDistributeParameters 2.0 3.5 1.0 3.0")
-  robot.pg.parseCmd(":UpperBodyMotionParameters 0.0 -0.5 0.0")
+  robot.pg.parseCmd(":UpperBodyMotionParameters -0.1 -1.0 0.0")
   if robot.device.name == 'HRP2LAAS' or \
      robot.device.name == 'HRP2JRL':
     robot.pg.parseCmd(":comheight 0.814")
@@ -315,7 +315,7 @@ def walkNaveau(robot):
   robot.pg.parseCmd(":NaveauOnline")
   if robot.device.name == 'HRP2LAAS' or robot.device.name == 'HRP2JRL':
     robot.pg.parseCmd(":setfeetconstraint XY 0.09 0.06")
-    robot.pg.parseCmd(":useDynamicFilter true")
+  robot.pg.parseCmd(":useDynamicFilter true")
   elif robot.device.name == 'HRP4LIRMM':
     robot.pg.parseCmd(":setfeetconstraint XY 0.07 0.06")
     robot.pg.parseCmd(":useDynamicFilter false")