Commit a140425c authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel

Clean code.

parent bc2b02c6
from hpp import Transform from hpp import Transform
from dynamic_graph.sot.core.meta_tasks_kine import MetaTaskKine6d, MetaTaskKineCom from dynamic_graph.sot.core.meta_tasks_kine import MetaTaskKine6d, MetaTaskKineCom
from dynamic_graph.sot.core.meta_tasks_kine_relative import MetaTaskKine6dRel from dynamic_graph.sot.core.meta_tasks_kine_relative import MetaTaskKine6dRel
from dynamic_graph.sot.core.meta_task_posture import MetaTaskKinePosture
from dynamic_graph.sot.core.meta_tasks import setGain from dynamic_graph.sot.core.meta_tasks import setGain
from dynamic_graph.sot.core import FeaturePosture from dynamic_graph.sot.core import FeaturePosture
...@@ -51,10 +50,10 @@ class Manifold(object): ...@@ -51,10 +50,10 @@ class Manifold(object):
class Posture(Manifold): class Posture(Manifold):
def __init__ (self, name, sotrobot): def __init__ (self, name, sotrobot):
super(Posture, self).__init__() super(Posture, self).__init__()
from dynamic_graph.sot.core import Task, FeatureGeneric, GainAdaptive, Selec_of_vector from dynamic_graph.sot.core import Task, FeatureGeneric, GainAdaptive
from dynamic_graph.sot.core.matrix_util import matrixToTuple from dynamic_graph.sot.core.matrix_util import matrixToTuple
from dynamic_graph import plug from dynamic_graph import plug
from numpy import identity, hstack, zeros from numpy import identity
n = Posture.sep + name n = Posture.sep + name
self.tp = Task ('task' + n) self.tp = Task ('task' + n)
...@@ -184,10 +183,8 @@ class Grasp (Manifold): ...@@ -184,10 +183,8 @@ class Grasp (Manifold):
class EEPosture (Manifold): class EEPosture (Manifold):
def __init__ (self, sotrobot, gripper, position): def __init__ (self, sotrobot, gripper, position):
from dynamic_graph.sot.core import Task, FeatureGeneric, GainAdaptive, Selec_of_vector from dynamic_graph.sot.core import Task, GainAdaptive
from dynamic_graph.sot.core.matrix_util import matrixToTuple
from dynamic_graph import plug from dynamic_graph import plug
from numpy import identity, hstack, zeros
super(EEPosture, self).__init__() super(EEPosture, self).__init__()
self.gripper = gripper self.gripper = gripper
......
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