Commit b2e54671 authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Merge branch 'proyan/master'

parents 756a817d 5881a552
from dynamic import Dynamic as DynamicOld
from dynamic import DynamicPinocchio as DynamicCpp
from angle_estimator import AngleEstimator
from zmp_from_forces import ZmpFromForces
import numpy as np
......@@ -6,9 +6,9 @@ from numpy import arctan2, arcsin, sin, cos, sqrt
#DynamicOld = Dynamic
class Dynamic (DynamicOld):
class DynamicPinocchio (DynamicCpp):
def __init__(self, name):
DynamicOld.__init__(self, name)
DynamicCpp.__init__(self, name)
self.model = None
self.data = None
......
......@@ -376,7 +376,7 @@ class AbstractHumanoidRobot (object):
self.dynamic.signal(self.OperationalPointsMap[op]).recompute(self.device.state.time+1)
self.dynamic.signal('J'+self.OperationalPointsMap[op]).recompute(self.device.state.time+1)
from dynamic_graph.sot.dynamics import Dynamic
from dynamic_graph.sot.dynamics_pinocchio import DynamicPinocchio
class HumanoidRobot(AbstractHumanoidRobot):
def __init__(self, name, pinocchio_model, pinocchio_data, initialConfig, OperationalPointsMap = None, tracer = None):
AbstractHumanoidRobot.__init__(self, name, tracer)
......@@ -385,7 +385,7 @@ class HumanoidRobot(AbstractHumanoidRobot):
self.OperationalPoints.append('chest')
self.OperationalPointsMap = OperationalPointsMap
self.dynamic = Dynamic(self.name + "_dynamic")
self.dynamic = DynamicPinocchio(self.name + "_dynamic")
self.dynamic.setModel(pinocchio_model)
self.dynamic.setData(pinocchio_data)
self.dimension = self.dynamic.getDimension()
......
......@@ -7,7 +7,7 @@
#
import xml.dom.minidom as dom
from dynamic_graph.sot.dynamics_pinocchio.dynamic import Dynamic
from dynamic_graph.sot.dynamics_pinocchio.dynamic import DynamicPinocchio
from dynamic_graph.sot.tools.se3 import SE3, R3, SO3
class Parser (object):
......@@ -56,7 +56,7 @@ class Parser (object):
robotTag = "HPP_HUMANOID_ROBOT"
def __init__(self, entityName, filename):
self.entity = Dynamic(entityName)
self.entity = DynamicPinocchio(entityName)
self.filename = filename
def parse (self):
......
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