From 9b23f4f0525181e68f6743fedd8b9c16e824db73 Mon Sep 17 00:00:00 2001
From: Francesco Morsillo <fmorsill@laas.fr>
Date: Mon, 26 Aug 2013 14:47:19 +0200
Subject: [PATCH] Fixed bug in setGain() and added reference input type in
MetaTaskDynPosture.gotoq()
---
src/dynamic_graph/sot/dyninv/meta_tasks_dyn.py | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/src/dynamic_graph/sot/dyninv/meta_tasks_dyn.py b/src/dynamic_graph/sot/dyninv/meta_tasks_dyn.py
index 0851a5a..61c421e 100644
--- a/src/dynamic_graph/sot/dyninv/meta_tasks_dyn.py
+++ b/src/dynamic_graph/sot/dyninv/meta_tasks_dyn.py
@@ -10,7 +10,7 @@ def setGain(gain,val):
if val!=None:
if isinstance(val,int) or isinstance(val,float):
gain.setConstant(val)
- if len(val)==1:
+ elif len(val)==1:
gain.setConstant(val[0])
elif len(val)==3: gain.set( val[0],val[1],val[2])
elif len(val)==4: gain.setByPoint( val[0],val[1],val[2],val[3])
@@ -109,6 +109,7 @@ class MetaTaskDynPosture(object):
r = self.postureRange[n]
act += r
if isinstance(v,matrix): qdes[r,0] = vectorToTuple(v)
+ if isinstance(v,ndarray): qdes[r,0] = vectorToTuple(v)
else: qdes[r,0] = v
self.ref = vectorToTuple(qdes)
self.feature.selec.value = toFlags(act)
--
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