Commit b3dd5cf2 authored by Thomas Moulard's avatar Thomas Moulard
Browse files

Remove unwanted files.

parent 7ab62d5c
# Template for uninstalling the files
# provided by this package.
#
# This file is coming straight from
# http://www.cmake.org/Wiki/CMake_FAQ
# O. Stasse, JRL, CNRS, 2010
#
IF(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
MESSAGE(FATAL_ERROR "Cannot find install manifest: \"@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt\"")
ENDIF(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
FILE(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files)
STRING(REGEX REPLACE "\n" ";" files "${files}")
FOREACH(file ${files})
MESSAGE(STATUS "Uninstalling \"$ENV{DESTDIR}${file}\"")
IF(EXISTS "$ENV{DESTDIR}${file}")
EXEC_PROGRAM(
"@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\""
OUTPUT_VARIABLE rm_out
RETURN_VALUE rm_retval
)
IF(NOT "${rm_retval}" STREQUAL 0)
MESSAGE(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"")
ENDIF(NOT "${rm_retval}" STREQUAL 0)
ELSE(EXISTS "$ENV{DESTDIR}${file}")
MESSAGE(STATUS "File \"$ENV{DESTDIR}${file}\" does not exist.")
ENDIF(EXISTS "$ENV{DESTDIR}${file}")
ENDFOREACH(file)
diff --git a/include/sot-dynamic/dynamic-hrp2.h b/include/sot-dynamic/dynamic-hrp2.h
index 2a4d139..a8781ca 100644
--- a/include/sot-dynamic/dynamic-hrp2.h
+++ b/include/sot-dynamic/dynamic-hrp2.h
@@ -30,7 +30,7 @@
#include <sot-dynamic/dynamic.h>
/* JRL dynamic */
-#include <hrp2Dynamics/hrp2Opthumanoid-dynamic-robot.hh>
+#include <hrp2-dynamics/hrp2OptHumanoidDynamicRobot.h>
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
diff --git a/src/dynamic.cpp b/src/dynamic.cpp
index 679b4fd..ba29c7a 100644
--- a/src/dynamic.cpp
+++ b/src/dynamic.cpp
@@ -662,7 +662,11 @@ computeJcom( ml::Matrix& Jcom,int time )
{
sotDEBUGIN(25);
newtonEulerSINTERN(time);
- Jcom.initFromMotherLib(m_HDR->jacobianCenterOfMass());
+
+ matrixNxP jacobian;
+ m_HDR->getJacobianCenterOfMass(*m_HDR->rootJoint(), jacobian);
+
+ Jcom.initFromMotherLib(jacobian);
sotDEBUGOUT(25);
return Jcom;
}
@@ -748,14 +752,11 @@ computeFootHeight( double& foot,int time )
{
sotDEBUGIN(25);
newtonEulerSINTERN(time);
- //foot=m_HDR->footHeight();
- CjrlFoot *RightFoot = m_HDR->rightFoot();
- vector3d AnkleInLocalRefFrame,SoleCenterInLocalRefFrame;
+ CjrlFoot* RightFoot = m_HDR->rightFoot();
+ vector3d AnkleInLocalRefFrame;
RightFoot->getAnklePositionInLocalFrame(AnkleInLocalRefFrame);
- RightFoot->getSoleCenterInLocalFrame(SoleCenterInLocalRefFrame);
- foot = fabs(AnkleInLocalRefFrame[2]-SoleCenterInLocalRefFrame[2]);
sotDEBUGOUT(25);
- return foot;
+ return AnkleInLocalRefFrame[2];
}
diff --git a/unitTesting/test_djj.cpp b/unitTesting/test_djj.cpp
index c9b5f2d..9b4d24f 100644
--- a/unitTesting/test_djj.cpp
+++ b/unitTesting/test_djj.cpp
@@ -45,9 +45,9 @@ void DisplayDynamicRobotInformation(CjrlDynamicRobot *aDynamicRobot)
for(int i=0;i<r;i++)
{
cout << aVec[i]->rankInConfiguration()<< endl;
- }
+ }
+
-
}
void DisplayMatrix(MAL_MATRIX(,double) &aJ)
@@ -69,15 +69,15 @@ void DisplayMatrix(MAL_MATRIX(,double) &aJ)
/* --- DISPLAY MASS PROPERTIES OF A CHAIN --- */
void GoDownTree(const CjrlJoint * startJoint)
{
- cout << "Mass-inertie property of joint ranked :"
+ cout << "Mass-inertie property of joint ranked :"
<< startJoint->rankInConfiguration() << endl;
- cout << "Mass of the body: "
+ cout << "Mass of the body: "
<< startJoint->linkedBody()->mass() << endl;
- cout << "llimit: "
+ cout << "llimit: "
<< startJoint->lowerBound(0)*180/M_PI
<< " ulimit: " << startJoint->upperBound(0)*180/M_PI << endl;
cout << startJoint->currentTransformation() << endl;
-
+
if (startJoint->countChildJoints()!=0)
{
const CjrlJoint * childJoint = startJoint->childJoint(0);
@@ -96,7 +96,7 @@ int main(int argc, char *argv[])
cerr << "./TestHumanoidDynamicRobot PATH_TO_VRML_FILE "
<< "VRML_FILE_NAME PATH_TO_SPECIFICITIES_XML" << endl;
exit(0);
- }
+ }
string aPath=argv[1];
string aName=argv[2];
@@ -104,13 +104,13 @@ int main(int argc, char *argv[])
// DynamicMultiBody * aDMB
// = new DynamicMultiBody();
// aDMB->parserVRML(aPath,aName,"");
-// HumanoidDynamicMultiBody *aHDMB
+// HumanoidDynamicMultiBody *aHDMB
// = new HumanoidDynamicMultiBody(aDMB,aSpecificitiesFileName);
/* ------------------------------------------------------------------------ */
dynamicsJRLJapan::ObjectFactory aRobotDynamicsObjectConstructor;
CjrlHumanoidDynamicRobot * aHDR = aRobotDynamicsObjectConstructor.createHumanoidDynamicRobot();
-
+
// DynamicMultiBody * aDMB
// = (DynamicMultiBody *) aHDMB->getDynamicMultiBody();
@@ -122,19 +122,19 @@ int main(int argc, char *argv[])
cout << "-> Finished the initialization"<< endl;
/* ------------------------------------------------------------------------ */
-
+
// Display tree of the joints.
- CjrlJoint* rootJoint = aHDR->rootJoint();
+ CjrlJoint* rootJoint = aHDR->rootJoint();
RecursiveDisplayOfJoints(rootJoint);
// Test the computation of the jacobian.
- double dInitPos[40] = {
+ double dInitPos[40] = {
0.0, 0.0, -26.0, 50.0, -24.0, 0.0, 0.0, 0.0, -26.0, 50.0, -24.0, 0.0, // legs
0.0, 0.0, 0.0, 0.0, // chest and head
15.0, -10.0, 0.0, -30.0, 0.0, 0.0, 10.0, // right arm
- 15.0, 10.0, 0.0, -30.0, 0.0, 0.0, 10.0, // left arm
+ 15.0, 10.0, 0.0, -30.0, 0.0, 0.0, 10.0, // left arm
-20.0, 20.0, -20.0, 20.0, -20.0, // right hand
-10.0, 10.0, -10.0, 10.0, -10.0 // left hand
@@ -151,7 +151,7 @@ int main(int argc, char *argv[])
aHDR->currentConfiguration(aCurrentConf);
/* Set current velocity to 0. */
- MAL_VECTOR_DIM(aCurrentVel,double,NbOfDofs);
+ MAL_VECTOR_DIM(aCurrentVel,double,NbOfDofs);
for(int i=0;i<NbOfDofs;i++) aCurrentVel[i] = 0.0;
aHDR->currentVelocity(aCurrentVel);
@@ -163,7 +163,7 @@ int main(int argc, char *argv[])
aHDR->computeForwardKinematics();
ZMPval = aHDR->zeroMomentumPoint();
cout << "First value of ZMP : " << ZMPval <<endl;
- cout << "Should be equal to the CoM (on x-y): "
+ cout << "Should be equal to the CoM (on x-y): "
<< aHDR->positionCenterOfMass() << endl;
/* Get Rhand joint. */
@@ -177,19 +177,20 @@ int main(int argc, char *argv[])
aJoint->computeJacobianJointWrtConfig();
MAL_MATRIX(,double) aJ = aJoint->jacobianJointWrtConfig();
DisplayMatrix(aJ);
-
+
/* Get Waist joint. */
cout << "****************************" << endl;
rootJoint->computeJacobianJointWrtConfig();
- aJ = rootJoint->jacobianJointWrtConfig();
+ aJ = rootJoint->jacobianJointWrtConfig();
cout << "Rank of Root: " << rootJoint->rankInConfiguration() << endl;
aJoint = aHDR->waist();
/* Get CoM jacobian. */
cout << "****************************" << endl;
- aHDR->computeJacobianCenterOfMass();
+ matrixNxP jacobian;
+ aHDR->getJacobianCenterOfMass(*aHDR->rootJoint(), jacobian);
cout << "Value of the CoM's Jacobian:" << endl
- << aHDR->jacobianCenterOfMass() << endl;
+ << jacobian << endl;
/* Display the mass property of the leg. */
cout << "****************************" << endl;
@@ -223,5 +224,5 @@ int main(int argc, char *argv[])
// The End!
delete aHDR;
-
+
}
prefix=${CMAKE_INSTALL_PREFIX}
exec_prefix=${install_pkg_prefix}
libdir=${install_pkg_exec_prefix}/lib/plugin
includedir=${install_pkg_prefix}/include
datarootdir=${install_pkg_prefix}/share
docdir=${install_pkg_datarootdir}/doc/${PROJECT_NAME}
Name: ${PROJECT_NAME}
Description:
Version: ${PROJECT_VERSION}
Requires: ${PACKAGE_REQUIREMENTS}
Libs: ${LIBDIR_KW}${install_pkg_libdir} ${${PROJECT_NAME}_LDFLAGS}
Cflags: -I${install_pkg_include_dir} ${${PROJECT_NAME}_CXXFLAGS}
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