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Guilhem Saurel
sot-dyninv
Commits
9b23f4f0
Commit
9b23f4f0
authored
11 years ago
by
Francesco Morsillo
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Fixed bug in setGain() and added reference input type in MetaTaskDynPosture.gotoq()
parent
b0aba963
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src/dynamic_graph/sot/dyninv/meta_tasks_dyn.py
+2
-1
2 additions, 1 deletion
src/dynamic_graph/sot/dyninv/meta_tasks_dyn.py
with
2 additions
and
1 deletion
src/dynamic_graph/sot/dyninv/meta_tasks_dyn.py
+
2
−
1
View file @
9b23f4f0
...
@@ -10,7 +10,7 @@ def setGain(gain,val):
...
@@ -10,7 +10,7 @@ def setGain(gain,val):
if
val
!=
None
:
if
val
!=
None
:
if
isinstance
(
val
,
int
)
or
isinstance
(
val
,
float
):
if
isinstance
(
val
,
int
)
or
isinstance
(
val
,
float
):
gain
.
setConstant
(
val
)
gain
.
setConstant
(
val
)
if
len
(
val
)
==
1
:
el
if
len
(
val
)
==
1
:
gain
.
setConstant
(
val
[
0
])
gain
.
setConstant
(
val
[
0
])
elif
len
(
val
)
==
3
:
gain
.
set
(
val
[
0
],
val
[
1
],
val
[
2
])
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
])
elif
len
(
val
)
==
4
:
gain
.
setByPoint
(
val
[
0
],
val
[
1
],
val
[
2
],
val
[
3
])
...
@@ -109,6 +109,7 @@ class MetaTaskDynPosture(object):
...
@@ -109,6 +109,7 @@ class MetaTaskDynPosture(object):
r
=
self
.
postureRange
[
n
]
r
=
self
.
postureRange
[
n
]
act
+=
r
act
+=
r
if
isinstance
(
v
,
matrix
):
qdes
[
r
,
0
]
=
vectorToTuple
(
v
)
if
isinstance
(
v
,
matrix
):
qdes
[
r
,
0
]
=
vectorToTuple
(
v
)
if
isinstance
(
v
,
ndarray
):
qdes
[
r
,
0
]
=
vectorToTuple
(
v
)
else
:
qdes
[
r
,
0
]
=
v
else
:
qdes
[
r
,
0
]
=
v
self
.
ref
=
vectorToTuple
(
qdes
)
self
.
ref
=
vectorToTuple
(
qdes
)
self
.
feature
.
selec
.
value
=
toFlags
(
act
)
self
.
feature
.
selec
.
value
=
toFlags
(
act
)
...
...
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