From a5a511e54fc472ef5eeedf352acff814c0e3dfc2 Mon Sep 17 00:00:00 2001
From: mnaveau <maximilien.naveau@laas.fr>
Date: Wed, 13 Apr 2016 11:01:47 +0200
Subject: [PATCH] the .so is compiling with pinocchio, the tests have to fixed
---
.../ComAndFootRealizationByGeometry.cpp | 25 +++++++++++--------
tests/TestObject.cpp | 4 +--
tests/TestObject.hh | 20 +++++++--------
3 files changed, 26 insertions(+), 23 deletions(-)
diff --git a/src/MotionGeneration/ComAndFootRealizationByGeometry.cpp b/src/MotionGeneration/ComAndFootRealizationByGeometry.cpp
index 0252a406..59957973 100644
--- a/src/MotionGeneration/ComAndFootRealizationByGeometry.cpp
+++ b/src/MotionGeneration/ComAndFootRealizationByGeometry.cpp
@@ -740,7 +740,8 @@ bool ComAndFootRealizationByGeometry::
ODEBUG("Typeid of humanoid: " << typeid(getHumanoidDynamicRobot()).name() );
// Call specialized dynamics.
- getPinocchioRobot()->getSpecializedInverseKinematics(Waist,Ankle,BodyPose,FootPose,lq);
+ getPinocchioRobot()->ComputeSpecializedInverseKinematics(
+ Waist,Ankle,BodyPose,FootPose,lq);
return true;
}
@@ -1248,11 +1249,12 @@ void ComAndFootRealizationByGeometry::
TempALeft * m_GainFactor / 0.2;
MAL_S4x4_MATRIX_ACCESS_I_J(jointEndPosition,2,3) = m_ZARM;
- getPinocchioRobot()->getSpecializedInverseKinematics(*m_LeftShoulder,
- *getHumanoidDynamicRobot()->leftWrist(),
- jointRootPosition,
- jointEndPosition,
- qArml);
+ getPinocchioRobot()->ComputeSpecializedInverseKinematics(
+ m_LeftShoulder,
+ getPinocchioRobot()->leftHand()->associatedWrist,
+ jointRootPosition,
+ jointEndPosition,
+ qArml);
ODEBUG4("ComputeHeuristicArm: Step 2 ","DebugDataIKArms.txt");
ODEBUG4( "IK Left arm p:" << qArml(0)<< " " << qArml(1) << " " << qArml(2)
<< " " << qArml(3) << " " << qArml(4) << " " << qArml(5), "DebugDataIKArms.txt" );
@@ -1260,11 +1262,12 @@ void ComAndFootRealizationByGeometry::
MAL_S4x4_MATRIX_ACCESS_I_J(jointEndPosition,0,3) = TempARight;
MAL_S4x4_MATRIX_ACCESS_I_J(jointEndPosition,2,3) = m_ZARM;
- getPinocchioRobot()->getSpecializedInverseKinematics(*m_RightShoulder,
- *getHumanoidDynamicRobot()->rightWrist(),
- jointRootPosition,
- jointEndPosition,
- qArmr);
+ getPinocchioRobot()->ComputeSpecializedInverseKinematics(
+ m_RightShoulder,
+ getPinocchioRobot()->rightHand()->associatedWrist,
+ jointRootPosition,
+ jointEndPosition,
+ qArmr);
ODEBUG4( "IK Right arm p:" << qArmr(0)<< " " << qArmr(1) << " " << qArmr(2)
<< " " << qArmr(3) << " " << qArmr(4) << " " << qArmr(5), "DebugDataIKArms.txt" );
diff --git a/tests/TestObject.cpp b/tests/TestObject.cpp
index 588c35b8..920e7ab0 100644
--- a/tests/TestObject.cpp
+++ b/tests/TestObject.cpp
@@ -136,8 +136,8 @@ namespace PatternGeneratorJRL
string &SpecificitiesFileName,
string &LinkJointRank,
string &InitConfig,
- CjrlHumanoidDynamicRobot * & aHDR,
- CjrlHumanoidDynamicRobot * & aDebugHDR,
+ PinocchioRobot * & aHDR,
+ PinocchioRobot * & aDebugHDR,
PatternGeneratorInterface * & aPGI)
{
// Creating the humanoid robot.
diff --git a/tests/TestObject.hh b/tests/TestObject.hh
index ccfc9a73..1e0185e1 100644
--- a/tests/TestObject.hh
+++ b/tests/TestObject.hh
@@ -77,8 +77,8 @@ namespace PatternGeneratorJRL
bool doTest(std::ostream &os);
/*! \brief Decide from which object the robot is build from. */
- virtual void SpecializedRobotConstructor(CjrlHumanoidDynamicRobot *& aHDR,
- CjrlHumanoidDynamicRobot *& aDebugHDR );
+ virtual void SpecializedRobotConstructor(PinocchioRobot *& aPR,
+ PinocchioRobot *& aDebugPR );
protected:
@@ -96,12 +96,12 @@ namespace PatternGeneratorJRL
*/
/*! */
void CreateAndInitializeHumanoidRobot(std::string &RobotFileName,
- std::string &LinkJointRank,
- std::string &SpecificitiesFileName,
- std::string &InitConfig,
- CjrlHumanoidDynamicRobot *& aHDR,
- CjrlHumanoidDynamicRobot *& aDebugHDR,
- PatternGeneratorJRL::PatternGeneratorInterface *&aPGI);
+ std::string &LinkJointRank,
+ std::string &SpecificitiesFileName,
+ std::string &InitConfig,
+ PinocchioRobot *& aPR,
+ PinocchioRobot *& aDebugPR,
+ PatternGeneratorJRL::PatternGeneratorInterface *&aPGI);
/*! @} */
@@ -136,10 +136,10 @@ namespace PatternGeneratorJRL
@{
*/
/*! \brief Abstract model of the humanoid robot considered */
- CjrlHumanoidDynamicRobot * m_HDR ;
+ PinocchioRobot * m_HDR ;
/*! \brief Abstract model of the humanoid robot for debugging purposes. */
- CjrlHumanoidDynamicRobot * m_DebugHDR ;
+ PinocchioRobot * m_DebugHDR ;
/*! @} */
--
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