Commit 99ba9e8a authored by Thomas Moulard's avatar Thomas Moulard
Browse files

Remove forwardKinematics from Python files.

parent 36d81785
......@@ -67,10 +67,4 @@ class Hrp2(AbstractHumanoidRobot):
self.dimension = self.dynamicRobot.getDimension()
if self.dimension != len(self.halfSitting):
raise "invalid half-sitting pose"
self.forwardKinematics = DynamicHrp2(self.name + '.forwardKinematics')
self.forwardKinematics.setFiles(modelDir, modelName,
specificitiesPath, jointRankPath)
self.forwardKinematics.parse()
self.initializeRobot()
......@@ -32,8 +32,7 @@ class AbstractHumanoidRobot (object):
This class instantiates all the entities required to get a consistent
representation of a humanoid robot:
- robot models (dynamic model and the separate forward kinematics
only model used to compute the freeflyer position)
- robot model
- angleEstimator used to link the two robot models
......@@ -72,26 +71,10 @@ class AbstractHumanoidRobot (object):
dynamicRobot = None
"""
The robot dynamic model.
"""
forwardKinematics = None
"""
The forward kinematics model.
This alternative representation of the robot is required to compute
the freeflyer (i.e. waist) position in the global frame.
In the dynamic robot model, the freeflyer is not actuated. Hence, the
freeflyer value remains zero all the time.
FIXME: describe the algorithm used to deduce the freeflyer position
and the role of the angle estimator (ankle flexibility?).
"""
dimension = None
"""The configuration size."""
angleEstimator = None
featureCom = None
"""
This generic feature takes as input the robot center of mass
......@@ -161,19 +144,15 @@ class AbstractHumanoidRobot (object):
def initializeRobot(self):
"""
If the two robots models are correctly loaded (respectively in
attributes robotDynamics and forwardKinematics), this method
will then initialize the operational points, set the position
to half-sitting with null velocity/acceleration.
It also initializes the angle estimator which makes the link
between the dynamics model and the forward kinematics one.
If the robot model is correctly loaded, this method will then
initialize the operational points, set the position to
half-sitting with null velocity/acceleration.
To finish, different tasks are initialized:
- the center of mass task used to keep the robot stability
- one task per operational point to ease robot control
"""
if not self.dynamicRobot or not self.forwardKinematics:
if not self.dynamicRobot:
raise "robots models have to be initialized first"
if self.simu:
......@@ -187,22 +166,8 @@ class AbstractHumanoidRobot (object):
self.dynamicRobot.signal('velocity').value = self.dimension*(0.,)
self.dynamicRobot.signal('acceleration').value = self.dimension*(0.,)
self.forwardKinematics.signal('position').value = self.halfSitting
self.forwardKinematics.signal('velocity').value = self.dimension*(0.,)
self.forwardKinematics.signal('acceleration').value = \
self.dimension*(0.,)
self.initializeOpPoints(self.dynamicRobot,
self.name + '.dynamics')
self.initializeOpPoints(self.forwardKinematics,
self.name + '.forwardKinematics')
# --- freeflyer pose ------------
self.angleEstimator = AngleEstimator('angleEstimator')
self.angleEstimator.setFromSensor(False)
self.angleEstimator.signal('sensorWorldRotation').value = I3
self.angleEstimator.signal('sensorEmbeddedPosition').value = I4
# --- center of mass ------------
self.featureCom = FeatureGeneric(self.name + '.feature.com')
......@@ -247,16 +212,8 @@ class HumanoidRobot(AbstractHumanoidRobot):
def __init__(self, name, filename, simu):
AbstractHumanoidRobot.__init__(self, name, simu)
self.filename = filename
self.dynamicRobot = \
self.loadModelFromKxml (self.name + '.dynamics', self.filename)
self.dimension = self.dynamicRobot.getDimension()
self.halfSitting = self.dimension*(0.,)
# Create entity to compute position of contact foot in root
# joint frame.
self.forwardKinematics = \
self.loadModelFromKxml (self.name + '.forwardKinematics',
self.filename)
self.initializeRobot()
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