Commit 5d419329 authored by H. Zhu's avatar H. Zhu Committed by Andrea Del Prete
Browse files

roll back file permissions

parent 9be2c54f
File mode changed from 100755 to 100644
File mode changed from 100755 to 100644
File mode changed from 100755 to 100644
File mode changed from 100755 to 100644
File mode changed from 100755 to 100644
File mode changed from 100755 to 100644
File mode changed from 100755 to 100644
File mode changed from 100755 to 100644
File mode changed from 100755 to 100644
File mode changed from 100755 to 100644
File mode changed from 100755 to 100644
File mode changed from 100755 to 100644
File mode changed from 100755 to 100644
......@@ -82,17 +82,17 @@ namespace tsid
return name;
}
static math::ConstraintEquality computeMotionTask(Contact6d & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){
static math::ConstraintEquality computeMotionTask(Contact6d & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const se3::Data & data){
self.computeMotionTask(t, q, v, data);
math::ConstraintEquality cons(self.getMotionConstraint().name(), self.getMotionConstraint().matrix(), self.getMotionConstraint().vector());
return cons;
}
static math::ConstraintInequality computeForceTask(Contact6d & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){
static math::ConstraintInequality computeForceTask(Contact6d & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const se3::Data & data){
self.computeForceTask(t, q, v, data);
math::ConstraintInequality cons(self.getForceConstraint().name(), self.getForceConstraint().matrix(), self.getForceConstraint().lowerBound(), self.getForceConstraint().upperBound());
return cons;
}
static math::ConstraintEquality computeForceRegularizationTask(Contact6d & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::Data & data){
static math::ConstraintEquality computeForceRegularizationTask(Contact6d & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const se3::Data & data){
self.computeForceRegularizationTask(t, q, v, data);
math::ConstraintEquality cons(self.getForceRegularizationTask().name(), self.getForceRegularizationTask().matrix(), self.getForceRegularizationTask().vector());
return cons;
......@@ -131,7 +131,7 @@ namespace tsid
static bool setRegularizationTaskWeight (Contact6d & self, const double w){
return self.setRegularizationTaskWeight(w);
}
static void setReference(Contact6d & self, const pinocchio::SE3 & ref){
static void setReference(Contact6d & self, const se3::SE3 & ref){
self.setReference(ref);
}
static void setForceReference(Contact6d & self, const::Eigen::VectorXd f_ref){
......
File mode changed from 100755 to 100644
File mode changed from 100755 to 100644
File mode changed from 100755 to 100644
......@@ -68,8 +68,8 @@ namespace tsid
.def("getContactForce", &InvDynPythonVisitor::getContactForce, bp::args("name", "HQPOutput"))
;
}
static pinocchio::Data data(const T & self){
pinocchio::Data data = self.data();
static se3::Data data(const T & self){
se3::Data data = self.data();
return data;
}
static bool addMotionTask_SE3(T & self, tasks::TaskSE3Equality & task, double weight, unsigned int priorityLevel, double transition_duration){
......
File mode changed from 100755 to 100644
File mode changed from 100755 to 100644
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