Commit 9be2c54f authored by H. Zhu's avatar H. Zhu Committed by Andrea Del Prete
Browse files

replace namespace se3 with pinocchio

parent e7a40175
File mode changed from 100644 to 100755
File mode changed from 100644 to 100755
File mode changed from 100644 to 100755
File mode changed from 100644 to 100755
File mode changed from 100644 to 100755
File mode changed from 100644 to 100755
File mode changed from 100644 to 100755
File mode changed from 100644 to 100755
File mode changed from 100644 to 100755
File mode changed from 100644 to 100755
File mode changed from 100644 to 100755
File mode changed from 100644 to 100755
File mode changed from 100644 to 100755
......@@ -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 se3::Data & data){
static math::ConstraintEquality computeMotionTask(Contact6d & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::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 se3::Data & data){
static math::ConstraintInequality computeForceTask(Contact6d & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::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 se3::Data & data){
static math::ConstraintEquality computeForceRegularizationTask(Contact6d & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, const pinocchio::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 se3::SE3 & ref){
static void setReference(Contact6d & self, const pinocchio::SE3 & ref){
self.setReference(ref);
}
static void setForceReference(Contact6d & self, const::Eigen::VectorXd f_ref){
......
File mode changed from 100644 to 100755
File mode changed from 100644 to 100755
File mode changed from 100644 to 100755
......@@ -68,8 +68,8 @@ namespace tsid
.def("getContactForce", &InvDynPythonVisitor::getContactForce, bp::args("name", "HQPOutput"))
;
}
static se3::Data data(const T & self){
se3::Data data = self.data();
static pinocchio::Data data(const T & self){
pinocchio::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 100644 to 100755
File mode changed from 100644 to 100755
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