Commit 1f05be49 authored by florent-lamiraux's avatar florent-lamiraux
Browse files

Merge pull request #8 from mehdi-benallegue/master

Remove the None members from the definition of a humanoid robot.
parents f7271a3f aa4f4f0b
......@@ -47,8 +47,21 @@ class AbstractHumanoidRobot (object):
- rightAnkle,
- Gaze.
Other attributes require to be defined:
- halfSitting: half-sitting position is the robot initial pose.
This attribute *must* be defined in subclasses.
- dynamic: The robot dynamic model.
- device: The device that integrates the dynamic equation, namely
the real robot or
a simulator
- dimension: The configuration size.
"""
OperationalPoints = ['left-wrist', 'right-wrist',
'left-ankle', 'right-ankle',
'gaze']
......@@ -77,50 +90,7 @@ class AbstractHumanoidRobot (object):
- operational point file.
"""
name = None
"""Entity name (internal use)"""
halfSitting = None
"""
The half-sitting position is the robot initial pose.
This attribute *must* be defined in subclasses.
"""
dynamic = None
"""
The robot dynamic model.
"""
device = None
"""
The device that integrates the dynamic equation, namely
- the real robot or
- a simulator
"""
dimension = None
"""The configuration size."""
featureCom = None
"""
This generic feature takes as input the robot center of mass
and as desired value the featureComDes feature of this class.
"""
featureComDes = None
"""
The feature associated to the robot center of mass desired
position.
"""
comTask = None
features = dict()
"""
Features associated to each operational point. Keys are
corresponding to operational points.
"""
tasks = dict()
"""
Features associated to each operational point. Keys are
corresponding to operational points.
"""
frames = dict()
"""
......
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