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Guilhem Saurel
hpp-wholebody-step-corba
Commits
70fefa05
Commit
70fefa05
authored
Mar 19, 2019
by
Guilhem Saurel
Browse files
Merge tag 'v4.4.0'
Release of version 4.4.0.
parents
1d8581dc
c7c17ece
Pipeline
#3644
passed with stage
in 3 minutes and 56 seconds
Changes
3
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1
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idl/hpp/corbaserver/wholebody-step/problem.idl
View file @
70fefa05
...
...
@@ -18,9 +18,9 @@
//
<
http
:
//
www
.
gnu.org/licenses/>.
#
ifndef
HPP_WHOLEBODY_STEP_CORBA_IDL
#
define
HPP_WHOLEBODY_STEP_CORBA_IDL
#
define
HPP_WHOLEBODY_STEP_CORBA_IDL
#
include
<
hpp
/
corbaserver
/
common
.
idl>
#
include
<
hpp
/
corbaserver
/
common
.
idl>
module
hpp
{
module
corbaserver
{
...
...
@@ -28,6 +28,10 @@ module hpp {
interface
Problem
{
///
Type
of
static
stability
constraints
.
///
\
deprecated
Use
///
hpp
::
corbaserver
::
robot
::
HumanoidRobot
::
createSlidingStabilityConstraint
///
hpp
::
corbaserver
::
robot
::
HumanoidRobot
::
createStaticStabilityConstraint
///
hpp
::
corbaserver
::
robot
::
HumanoidRobot
::
createAlignedCOMStabilityConstraint
enum
StaticStabilityType
{
///
Corresponds
to
a
robot
sliding
on
the
floor
,
the
relative
position
///
ot
the
feet
being
constant
.
It
contains
five
following
constraints
:
...
...
@@ -38,6 +42,9 @@ module hpp {
///
\
li
prefix
+
"/relative-position"
:
relative
position
of
the
feet
,
///
\
li
prefix
+
"/orientation-left-foot"
:
orientation
of
the
left
foot
,
///
\
li
prefix
+
"/position-left-foot"
:
position
of
the
left
foot
.
///
///
\
deprecated
Use
///
hpp
::
corbaserver
::
robot
::
HumanoidRobot
::
createSlidingStabilityConstraint
SLIDING
,
///
Corresponds
to
a
robot
sliding
on
two
feets
,
the
COM
between
the
///
the
feet
.
The
feet
are
constrained
to
stay
on
the
floor
,
parallel
to
...
...
@@ -48,26 +55,25 @@ module hpp {
///
\
li
prefix
+
"/position-right"
:
height
of
the
right
foot
,
///
\
li
prefix
+
"/orientation-left"
:
left
foot
remains
horizontal
,
///
\
li
prefix
+
"/position-left"
:
height
of
the
left
foot
.
///
///
\
deprecated
Use
///
hpp
::
corbaserver
::
robot
::
HumanoidRobot
::
createAlignedCOMStabilityConstraint
SLIDING_ALIGNED_COM
,
///
Same
as
SLIDING
except
that
the
feet
are
fixed
on
the
ground
///
\
deprecated
Use
///
hpp
::
corbaserver
::
robot
::
HumanoidRobot
::
createStaticStabilityConstraint
FIXED_ON_THE_GROUND
,
///
Same
as
SLIDING_ALIGNED_COM
,
except
that
the
feet
are
fixed
on
the
///
ground
///
\
deprecated
Use
///
hpp
::
corbaserver
::
robot
::
HumanoidRobot
::
createAlignedCOMStabilityConstraint
FIXED_ALIGNED_COM
}
;
///
Create
static
stability
constraints
and
store
into
ProblemSolver
///
\
param
prefix
prefix
of
the
names
of
the
constraint
as
stored
in
///
core
::
ProblemSolver
,
///
\
param
floatArray
input
configuration
for
computing
constraint
reference
,
///
\
param
leftAnkle
,
rightAnkle
:
names
of
the
ankle
joints
.
///
\
param
comName
name
of
the
PartialCOM
in
the
problem
solver
map
.
Put
""
for
///
a
full
COM
computations
.
///
\
param
type
type
of
static
stability
constraints
you
wish
to
create
.
///
///
The
constraints
are
stored
in
the
core
::
ProblemSolver
constraints
map
///
and
are
accessible
through
the
method
///
core
::
ProblemSolver
::
addNumericalConstraint
:
///
\
deprecated
Use
///
hpp
::
corbaserver
::
robot
::
HumanoidRobot
::
createSlidingStabilityConstraint
///
hpp
::
corbaserver
::
robot
::
HumanoidRobot
::
createStaticStabilityConstraint
///
hpp
::
corbaserver
::
robot
::
HumanoidRobot
::
createAlignedCOMStabilityConstraint
void
addStaticStabilityConstraints
(
in
string
prefix
,
in
floatSeq
floatArray
,
in
string
leftAnkle
,
...
...
@@ -75,12 +81,6 @@ module hpp {
in
string
comName
,
in
StaticStabilityType
type
)
raises
(
Error
)
;
///
Generate
a
goal
configuration
.
///
\
param
x
,
y
,
z
:
desired
position
of
the
end
effector
(
right
hand
)
///
\
param
nbConfig
Number
of
goal
configurations
to
generate
.
void
generateGoalConfig
(
in
double
x
,
in
double
y
,
in
double
z
,
in
unsigned
short
nbConfig
)
raises
(
Error
)
;
}
; //interface Problem
}
; // module wholebody_step
}
; // module corbaserver
...
...
src/problem.impl.cc
View file @
70fefa05
...
...
@@ -198,13 +198,6 @@ namespace hpp {
throw
Error
(
exc
.
what
());
}
}
void
Problem
::
generateGoalConfig
(
CORBA
::
Double
,
CORBA
::
Double
,
CORBA
::
Double
,
CORBA
::
UShort
)
throw
(
hpp
::
Error
)
{
assert
(
problemSolver
());
}
}
// namespace impl
}
// namespace wholebodyStep
}
// namespace hpp
src/problem.impl.hh
View file @
70fefa05
...
...
@@ -47,11 +47,6 @@ namespace hpp {
const
StaticStabilityType
type
)
throw
(
hpp
::
Error
);
virtual
void
generateGoalConfig
(
CORBA
::
Double
x
,
CORBA
::
Double
y
,
CORBA
::
Double
z
,
CORBA
::
UShort
nbConfig
)
throw
(
hpp
::
Error
);
private:
core
::
ProblemSolverPtr_t
problemSolver
();
Server
*
server_
;
...
...
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