Commit 9ea7bb07 authored by Alexis Nicolin's avatar Alexis Nicolin

Erased useless comments

parent 0c259829
......@@ -184,73 +184,6 @@ class Grasp (Manifold):
dyn.signals())
return len(sigsP)==1 & len(sigsJ)==1
#class Grasp_old (Manifold):
# def __init__ (self, gripper, handle, otherGraspOnObject = None):
# super(Grasp, self).__init__()
# self.gripper = gripper
# self.handle = handle
# self.otherGrasp = otherGraspOnObject
# self.relative = self.otherGrasp is not None \
# and self.otherGrasp.handle.hppjoint == self.handle.hppjoint
# if self.relative:
# self.topics = dict()
# else:
# self.topics = {
# # self.gripper.name: {
# self.gripper.hppjoint: {
# "velocity": False,
# "type": "matrixHomo",
# "handler": "hppjoint",
# "hppjoint": self.gripper.hppjoint,
# "signalGetters": [ self._signalPositionRef ] },
# # "vel_" + self.gripper.name: {
# "vel_" + self.gripper.hppjoint: {
# "velocity": True,
# "type": "vector",
# "handler": "hppjoint",
# "hppjoint": self.gripper.hppjoint,
# "signalGetters": [ self._signalVelocityRef ] },
# }
#
# def makeTasks(self, sotrobot):
# from dynamic_graph.sot.core.matrix_util import matrixToTuple
# from dynamic_graph.sot.core import Multiply_of_matrixHomo, OpPointModifier
# if self.relative:
# # We define a MetaTaskKine6dRel
# self.graspTask = MetaTaskKine6dRel (
# Grasp.sep + self.gripper.name + Grasp.sep + self.handle.name +
# '(rel_to_' + self.otherGrasp.gripper.name + ')',
# sotrobot.dynamic,
# self.gripper.sotjoint,
# self.gripper.sotjoint,
# self.otherGrasp.gripper.sotjoint,
# self.otherGrasp.gripper.sotjoint)
#
# M = transformToMatrix(self.gripper.sotpose * self.handle.sotpose.inverse())
# self.graspTask.opmodif = matrixToTuple(M)
# # M = transformToMatrix(self.otherGrasp.handle.sotpose * self.otherGrasp.gripper.sotpose.inverse())
# M = transformToMatrix(self.otherGrasp.gripper.sotpose * self.otherGrasp.handle.sotpose.inverse())
# self.graspTask.opmodifBase = matrixToTuple(M)
# else:
# # We define a MetaTaskKine6d
# self.graspTask = MetaTaskKine6d (
# Grasp.sep + self.gripper.name + Grasp.sep + self.handle.name,
# sotrobot.dynamic,
# self.gripper.sotjoint,
# self.gripper.sotjoint)
# # TODO At the moment, the reference is the joint frame, not the gripper frame.
# # M = transformToMatrix(self.gripper.sotpose)
# # self.graspTask.opmodif = matrixToTuple(M)
# # self.graspTask.feature.frame("desired")
# self.graspTask.task.setWithDerivative (True)
# # setGain(self.graspTask.gain,(100,0.9,0.01,0.9))
# setGain(self.graspTask.gain,(4.9,0.9,0.01,0.9))
# self.graspTask.feature.frame("current")
# self.tasks = [ self.graspTask.task ]
#
# def _signalPositionRef (self): return self.graspTask.featureDes.position
# def _signalVelocityRef (self): return self.graspTask.featureDes.velocity
class EEPosture (Manifold):
def __init__ (self, sotrobot, gripper, position):
# Alexis : I think this function only work when len(position) == 1
......
......@@ -84,10 +84,6 @@ namespace dynamicgraph
else {
data = queue.front();
queue.pop();
//if (queue.size() < 10) {
// std::cout << signal->getName() << ": queue size is " << queue.size()
// << " at time " << time << std::endl;
//}
last = data;
}
qmutex.unlock();
......
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