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Stack Of Tasks
tsid
Commits
c0ea6bf3
Unverified
Commit
c0ea6bf3
authored
Mar 17, 2021
by
Guilhem Saurel
Committed by
GitHub
Mar 17, 2021
Browse files
Merge pull request #126 from nim65s/devel
silence warnings
parents
07ceb45d
d32d7f2f
Pipeline
#13602
passed with stage
in 34 minutes and 50 seconds
Changes
3
Pipelines
1
Hide whitespace changes
Inline
Side-by-side
CMakeLists.txt
View file @
c0ea6bf3
...
...
@@ -86,6 +86,12 @@ IF(BUILD_PYTHON_INTERFACE)
SET
(
PYWRAP
${
PROJECT_NAME
}
_pywrap
)
ADD_PROJECT_DEPENDENCY
(
eigenpy REQUIRED PKG_CONFIG_REQUIRES eigenpy
)
SEARCH_FOR_BOOST_PYTHON
(
REQUIRED
)
IF
(
Boost_VERSION GREATER 107299
)
# Silence a warning about a deprecated use of boost bind by boost python
# at least fo boost 1.73 to 1.75
ADD_DEFINITIONS
(
-DBOOST_BIND_GLOBAL_PLACEHOLDERS
)
ENDIF
()
ENDIF
(
BUILD_PYTHON_INTERFACE
)
# Main Library
...
...
include/tsid/bindings/python/formulations/formulation.hpp
View file @
c0ea6bf3
...
...
@@ -24,6 +24,8 @@
#include <eigenpy/eigenpy.hpp>
#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
#include <pinocchio/bindings/python/utils/deprecation.hpp>
#include "tsid/formulations/inverse-dynamics-formulation-acc-force.hpp"
#include "tsid/bindings/python/solvers/HQPData.hpp"
#include "tsid/contacts/contact-6d.hpp"
...
...
@@ -68,7 +70,8 @@ namespace tsid
.
def
(
"updateTaskWeight"
,
&
InvDynPythonVisitor
::
updateTaskWeight
,
bp
::
args
(
"task_name"
,
"weight"
))
.
def
(
"updateRigidContactWeights"
,
&
InvDynPythonVisitor
::
updateRigidContactWeights
,
bp
::
args
(
"contact_name"
,
"force_regularization_weight"
))
.
def
(
"updateRigidContactWeights"
,
&
InvDynPythonVisitor
::
updateRigidContactWeightsWithMotionWeight
,
bp
::
args
(
"contact_name"
,
"force_regularization_weight"
,
"motion_weight"
))
.
def
(
"addRigidContact"
,
&
InvDynPythonVisitor
::
addRigidContact6dDeprecated
,
bp
::
args
(
"contact"
))
.
def
(
"addRigidContact"
,
&
InvDynPythonVisitor
::
addRigidContact6dDeprecated
,
bp
::
args
(
"contact"
),
pinocchio
::
python
::
deprecated_function
<>
(
"Method addRigidContact(ContactBase) is deprecated. You should use addRigidContact(ContactBase, double) instead"
))
.
def
(
"addRigidContact"
,
&
InvDynPythonVisitor
::
addRigidContact6d
,
bp
::
args
(
"contact"
,
"force_reg_weight"
))
.
def
(
"addRigidContact"
,
&
InvDynPythonVisitor
::
addRigidContact6dWithPriorityLevel
,
bp
::
args
(
"contact"
,
"force_reg_weight"
,
"motion_weight"
,
"priority_level"
))
.
def
(
"addRigidContact"
,
&
InvDynPythonVisitor
::
addRigidContactPoint
,
bp
::
args
(
"contact"
,
"force_reg_weight"
))
...
...
@@ -120,7 +123,7 @@ namespace tsid
return
self
.
updateRigidContactWeights
(
contact_name
,
force_regularization_weight
,
motion_weight
);
}
static
bool
addRigidContact6dDeprecated
(
T
&
self
,
contacts
::
Contact6d
&
contact
){
return
self
.
addRigidContact
(
contact
);
return
self
.
addRigidContact
(
contact
,
1e-5
);
}
static
bool
addRigidContact6d
(
T
&
self
,
contacts
::
Contact6d
&
contact
,
double
force_regularization_weight
){
return
self
.
addRigidContact
(
contact
,
force_regularization_weight
);
...
...
src/tasks/task-cop-equality.cpp
View file @
c0ea6bf3
...
...
@@ -27,8 +27,8 @@ namespace tasks
TaskCopEquality
::
TaskCopEquality
(
const
std
::
string
&
name
,
RobotWrapper
&
robot
)
:
TaskContactForce
(
name
,
robot
),
m_con
straint
(
name
,
3
,
3
),
m_con
tact_name
(
""
)
m_con
tact_name
(
""
),
m_con
straint
(
name
,
3
,
3
)
{
m_normal
<<
0
,
0
,
1
;
m_ref
.
setZero
();
...
...
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