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Commit d72d5830 authored by Rohan Budhiraja's avatar Rohan Budhiraja Committed by GitHub
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Merge pull request #24 from olivier-stasse/master 

Making sot-dynamic-pinocchio appear as sot-dynamic-pinocchio
parents 4c3e40f2 43b1bc56
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CMakeLists.txt
View file @ d72d5830
......@@ -21,7 +21,7 @@ INCLUDE(cmake/eigen.cmake)
INCLUDE(cmake/lapack.cmake)
INCLUDE(cmake/cpack.cmake)
SET(PROJECT_NAME sot-dynamic)
SET(PROJECT_NAME sot-dynamic-pinocchio)
SET(PROJECT_DESCRIPTION "pinocchio bindings for dynamic-graph.")
SET(PROJECT_URL "https://github.com/proyan/sot-dynamic/tree/topic/sot-pinocchio")
......
cmake @ 54177e44
Compare 83d3fa76...54177e44
Subproject commit 83d3fa76f5196bc667e516c590ae6fd297027050
Subproject commit 54177e44a1440222184865f1449c40b708eeaaa4
include/CMakeLists.txt
View file @ d72d5830
......@@ -14,7 +14,7 @@
# sot-dynamic. If not, see <http://www.gnu.org/licenses/>.
SET(${PROJECT_NAME}_HEADERS
dynamic.h
dynamic-pinocchio.h
integrator-force-exact.h
zmpreffromcom.h
integrator-force.h
......
include/sot-dynamic/dynamic.h → include/sot-dynamic-pinocchio/dynamic-pinocchio.h
View file @ d72d5830
......@@ -18,8 +18,8 @@
* with sot-dynamic. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __SOT_DYNAMIC_H__
#define __SOT_DYNAMIC_H__
#ifndef __SOT_DYNAMIC_PINOCCHIO_H__
#define __SOT_DYNAMIC_PINOCCHIO_H__
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
......@@ -86,7 +86,7 @@ namespace dynamicgraph {
by the dynamicsJRLJapan library to make it accessible in the stack of tasks.
The robot is described by a VRML file.
*/
class SOTDYNAMIC_EXPORT Dynamic
class SOTDYNAMIC_EXPORT DynamicPinocchio
:public dg::Entity {
friend class sot::command::SetFile;
friend class sot::command::CreateOpPoint;
......@@ -167,8 +167,8 @@ class SOTDYNAMIC_EXPORT Dynamic
public:
/* --- CONSTRUCTOR --- */
Dynamic( const std::string& name);
virtual ~Dynamic( void );
DynamicPinocchio( const std::string& name);
virtual ~DynamicPinocchio( void );
/* --- MODEL CREATION --- */
......@@ -260,4 +260,4 @@ class SOTDYNAMIC_EXPORT Dynamic
#endif // #ifndef __SOT_DYNAMIC_H__
#endif // #ifndef __SOT_DYNAMIC_PINOCCHIO_H__
src/CMakeLists.txt
View file @ d72d5830
# Copyright 2010, François Bleibel, Olivier Stasse, JRL, CNRS/AIST,
# Florent Lamiraux (CNRS/LAAS)
#
# This file is part of sot-dynamic.
# sot-dynamic is free software: you can redistribute it and/or
# This file is part of sot-dynamic-pinocchio.
# sot-dynamic-pinocchio is free software: you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public License
# as published by the Free Software Foundation, either version 3 of
# the License, or (at your option) any later version.
#
# sot-dynamic is distributed in the hope that it will be useful, but
# sot-dynamic-pinocchio is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# General Lesser Public License for more details. You should have
# received a copy of the GNU Lesser General Public License along with
# sot-dynamic. If not, see <http://www.gnu.org/licenses/>.
# sot-dynamic-pinocchio. If not, see <http://www.gnu.org/licenses/>.
INCLUDE(../custom_cmake/python.cmake)
INCLUDE(../cmake/python.cmake)
......@@ -56,12 +56,12 @@ FOREACH(lib ${plugins})
SOT_DYNAMIC_PYTHON_MODULE("sot/dynamics/${PYTHON_LIBRARY_NAME}"
${lib}
sot-dynamics-${PYTHON_LIBRARY_NAME}-wrap
sot-dynamic-pinocchio-${PYTHON_LIBRARY_NAME}-wrap
)
ENDFOREACH(lib)
# Main Library
ADD_LIBRARY(${LIBRARY_NAME} SHARED sot-dynamic.cpp)
ADD_LIBRARY(${LIBRARY_NAME} SHARED sot-dynamic-pinocchio.cpp)
TARGET_LINK_LIBRARIES(${LIBRARY_NAME} pinocchio)
TARGET_LINK_LIBRARIES(${LIBRARY_NAME} sot-core)
TARGET_LINK_LIBRARIES(${LIBRARY_NAME} dynamic-graph)
......@@ -75,9 +75,9 @@ TARGET_LINK_LIBRARIES(dynamic ${LIBRARY_NAME})
# Install empty __init__.py files in intermediate directories.
INSTALL(FILES
${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics/__init__.py
${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics/humanoid_robot.py
${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics/tools.py
${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics/parser.py
DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/dynamics
${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics_pinocchio/__init__.py
${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics_pinocchio/humanoid_robot.py
${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics_pinocchio/tools.py
${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics_pinocchio/parser.py
DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/dynamics_pinocchio
)
\ No newline at end of file
src/angle-estimator.cpp
View file @ d72d5830
......@@ -5,20 +5,20 @@
*
* CNRS/AIST
*
* This file is part of sot-dynamic.
* sot-dynamic is free software: you can redistribute it and/or
* This file is part of sot-dynamic-pinocchio.
* sot-dynamic-pinocchio is free software: you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public License
* as published by the Free Software Foundation, either version 3 of
* the License, or (at your option) any later version.
* sot-dynamic is distributed in the hope that it will be
* sot-dynamic-pinocchio is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty
* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details. You should
* have received a copy of the GNU Lesser General Public License along
* with sot-dynamic. If not, see <http://www.gnu.org/licenses/>.
* with sot-dynamic-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#include <sot-dynamic/angle-estimator.h>
#include <sot-dynamic-pinocchio/angle-estimator.h>
#include <sot/core/debug.hh>
#include <dynamic-graph/factory.h>
#include <dynamic-graph/command.h>
......
src/dynamic-command.h
View file @ d72d5830
......@@ -41,14 +41,14 @@ namespace dynamicgraph { namespace sot {
/// Create command and store it in Entity
/// \param entity instance of Entity owning this command
/// \param docstring documentation of the command
DisplayModel(Dynamic& entity, const std::string& docstring) :
DisplayModel(DynamicPinocchio& entity, const std::string& docstring) :
Command(entity, std::vector<Value::Type>(),
docstring)
{
}
virtual Value doExecute()
{
Dynamic& robot = static_cast<Dynamic&>(owner());
DynamicPinocchio& robot = static_cast<DynamicPinocchio&>(owner());
robot.displayModel();
return Value();
}
......@@ -64,14 +64,14 @@ namespace dynamicgraph { namespace sot {
/// Create command and store it in Entity
/// \param entity instance of Entity owning this command
/// \param docstring documentation of the command
GetDimension(Dynamic& entity, const std::string& docstring) :
GetDimension(DynamicPinocchio& entity, const std::string& docstring) :
Command(entity, std::vector<Value::Type>(),
docstring)
{
}
virtual Value doExecute()
{
Dynamic& robot = static_cast<Dynamic&>(owner());
DynamicPinocchio& robot = static_cast<DynamicPinocchio&>(owner());
unsigned int dimension = robot.m_model->nv;
return Value(dimension);
}
......
src/dynamic.cpp
View file @ d72d5830
......@@ -5,20 +5,20 @@
*
* CNRS/AIST
*
* This file is part of sot-dynamic.
* sot-dynamic is free software: you can redistribute it and/or
* This file is part of sot-dynamic-pinocchio.
* sot-dynamic-pinocchio is free software: you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public License
* as published by the Free Software Foundation, either version 3 of
* the License, or (at your option) any later version.
* sot-dynamic is distributed in the hope that it will be
* sot-dynamic-pinocchio is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty
* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details. You should
* have received a copy of the GNU Lesser General Public License along
* with sot-dynamic. If not, see <http://www.gnu.org/licenses/>.
* with sot-dynamic-pinocchio. If not, see <http://www.gnu.org/licenses/>.
*/
#include <sot-dynamic/dynamic.h>
#include <sot-dynamic-pinocchio/dynamic-pinocchio.h>
#include <dynamic-graph/factory.h>
using namespace dynamicgraph;
......@@ -26,12 +26,12 @@ using namespace dynamicgraph::sot;
extern "C" {
::dynamicgraph::Entity*
EntityMaker_Dynamic(const std::string& objname)
EntityMaker_DynamicPinocchio(const std::string& objname)
{
return new Dynamic (objname);
return new DynamicPinocchio (objname);
}
::dynamicgraph::EntityRegisterer
reg_Dynamic ("Dynamic",
&EntityMaker_Dynamic);
reg_Dynamic ("DynamicPinocchio",
&EntityMaker_DynamicPinocchio);
}
//DYNAMICGRAPH_FACTORY_DYNAMIC_PLUGIN(Dynamic,"Dynamic");
src/dynamic_graph/sot/dynamics/humanoid_robot.py → src/dynamic_graph/sot/dynamics_pinocchio/humanoid_robot.py
View file @ d72d5830
......@@ -22,8 +22,8 @@ from dynamic_graph.sot.core import OpPointModifier
from dynamic_graph.sot.core.derivator import Derivator_of_Vector
from dynamic_graph.sot.core import RobotSimu
from dynamic_graph.sot.dynamics.parser import Parser
from dynamic_graph.sot.dynamics import AngleEstimator
from dynamic_graph.sot.dynamics_pinocchio.parser import Parser
from dynamic_graph.sot.dynamics_pinocchio import AngleEstimator
from dynamic_graph import plug
......@@ -156,7 +156,7 @@ class AbstractHumanoidRobot (object):
"""
Load a model from a kxml file and return the parsed model.
This uses the Python parser class implement in
dynamic_graph.sot.dynamics.parser.
dynamic_graph.sot.dynamics_pinocchio.parser.
kxml is an extensible file format used by KineoWorks to store
both the robot mesh and its kinematic chain.
......
src/dynamic_graph/sot/dynamics/parser.py → src/dynamic_graph/sot/dynamics_pinocchio/parser.py
View file @ d72d5830
......@@ -7,7 +7,7 @@
#
import xml.dom.minidom as dom
from dynamic_graph.sot.dynamics.dynamic import Dynamic
from dynamic_graph.sot.dynamics_pinocchio.dynamic import Dynamic
from dynamic_graph.sot.tools.se3 import SE3, R3, SO3
class Parser (object):
......
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