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Stack Of Tasks
tsid
Commits
d32d7f2f
Commit
d32d7f2f
authored
Mar 10, 2021
by
Guilhem Saurel
Browse files
use pinocchio::python::deprecated_function
parent
f7d16560
Pipeline
#13429
passed with stage
in 13 minutes and 1 second
Changes
1
Pipelines
1
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Inline
Side-by-side
include/tsid/bindings/python/formulations/formulation.hpp
View file @
d32d7f2f
...
...
@@ -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 +123,6 @@ namespace tsid
return
self
.
updateRigidContactWeights
(
contact_name
,
force_regularization_weight
,
motion_weight
);
}
static
bool
addRigidContact6dDeprecated
(
T
&
self
,
contacts
::
Contact6d
&
contact
){
std
::
cout
<<
"[InverseDynamicsFormulationAccForce] Method addRigidContact(ContactBase) is deprecated. You should use addRigidContact(ContactBase, double) instead.
\n
"
;
return
self
.
addRigidContact
(
contact
,
1e-5
);
}
static
bool
addRigidContact6d
(
T
&
self
,
contacts
::
Contact6d
&
contact
,
double
force_regularization_weight
){
...
...
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