Commit 7dccf356 authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr
Browse files

Make code compatible with python3.

parent 1410604e
......@@ -23,15 +23,15 @@ class Display():
try:
self.viewer=gepetto.corbaserver.Client()
except:
print "Error while starting the viewer client. "
print "Check whether Gepetto-viewer is properly started"
print("Error while starting the viewer client. ")
print("Check whether Gepetto-viewer is properly started")
# Open a window for displaying your model.
try:
# If the window already exists, do not do anything.
windowID = self.viewer.gui.getWindowID (windowName)
print "Warning: window '"+windowName+"' already created."
print "The previously created objects will not be destroyed and do not have to be created again."
print("Warning: window '"+windowName+"' already created.")
print("The previously created objects will not be destroyed and do not have to be created again.")
except:
# Otherwise, create the empty window.
windowID = self.viewer.gui.createWindow (windowName)
......
......@@ -19,21 +19,21 @@ class CallbackLogger:
def __init__(self):
self.nfeval = 1
def __call__(self,x):
print '===CBK=== {0:4d} {1: 3.6f} {2: 3.6f} {3: 3.6f}'.format(self.nfeval, x[0], x[1], cost(x))
print('===CBK=== {0:4d} {1: 3.6f} {2: 3.6f} {3: 3.6f}'.format(self.nfeval, x[0], x[1], cost(x)))
self.nfeval += 1
x0 = np.array([0.0,0.0])
# Optimize cost without any constraints in BFGS, with traces.
xopt_bfgs = fmin_bfgs(cost, x0, callback=CallbackLogger())
print '\n *** Xopt in BFGS = ',xopt_bfgs,'\n\n\n\n'
print('\n *** Xopt in BFGS = ',xopt_bfgs,'\n\n\n\n')
# Optimize cost without any constraints in CLSQ
xopt_lsq = fmin_slsqp(cost,[-1.0,1.0], iprint=2, full_output=1)
print '\n *** Xopt in LSQ = ',xopt_lsq,'\n\n\n\n'
print('\n *** Xopt in LSQ = ',xopt_lsq,'\n\n\n\n')
# Optimize cost with equality and inequality constraints in CLSQ
xopt_clsq = fmin_slsqp(cost,[-1.0,1.0],
f_eqcons=constraint_eq, f_ieqcons=constraint_ineq,
iprint=2, full_output=1)
print '\n *** Xopt in c-lsq = ',xopt_clsq,'\n\n\n\n'
print('\n *** Xopt in c-lsq = ',xopt_clsq,'\n\n\n\n')
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