Unverified Commit c0ea6bf3 authored by Guilhem Saurel's avatar Guilhem Saurel Committed by GitHub
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
......@@ -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
......
......@@ -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);
......
......@@ -27,8 +27,8 @@ namespace tasks
TaskCopEquality::TaskCopEquality(const std::string & name, RobotWrapper & robot):
TaskContactForce(name, robot),
m_constraint(name, 3, 3),
m_contact_name("")
m_contact_name(""),
m_constraint(name, 3, 3)
{
m_normal << 0, 0, 1;
m_ref.setZero();
......
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