From faeec1cd678c1efcb6d14364ed8e97077361d70b Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Wed, 9 Mar 2011 17:00:51 +0100
Subject: [PATCH] IVIGIT.
---
CMakeLists.txt | 3 +++
src/dynamic_graph/sot/dyninv/__init__.py | 3 +++
src/solver-op-space.cpp | 2 +-
3 files changed, 7 insertions(+), 1 deletion(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f598ac6..8784ec6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -50,6 +50,7 @@ SET(libs
task-dyn-pd
dynamic-integrator
solver-op-space
+ solver-kine
zmp-estimator
pseudo-robot-dynamic
robot-dyn-simu
@@ -70,6 +71,8 @@ SET(headers
task-dyn-pd.h
dynamic-integrator.h
solver-op-space.h
+ solver-kine.h
+
zmp-estimator.h
pseudo-robot-dynamic.h
robot-dyn-simu.h
diff --git a/src/dynamic_graph/sot/dyninv/__init__.py b/src/dynamic_graph/sot/dyninv/__init__.py
index 7d781f6..a979b84 100755
--- a/src/dynamic_graph/sot/dyninv/__init__.py
+++ b/src/dynamic_graph/sot/dyninv/__init__.py
@@ -13,6 +13,9 @@ PseudoRobotDynamic('')
from solver_op_space import SolverOpSpace
SolverOpSpace('')
+from solver_kine import SolverKine
+SolverKine('')
+
from zmp_estimator import ZmpEstimator
ZmpEstimator('')
diff --git a/src/solver-op-space.cpp b/src/solver-op-space.cpp
index 22d8bdc..cb62568 100644
--- a/src/solver-op-space.cpp
+++ b/src/solver-op-space.cpp
@@ -71,7 +71,7 @@ namespace dynamicgraph
,CONSTRUCT_SIGNAL_IN(breakFactor,double)
,CONSTRUCT_SIGNAL_OUT(control,ml::Vector,
matrixInertiaSIN << dyndriftSIN
- << velocitySIN << controlSOUT)
+ << velocitySIN )
,CONSTRUCT_SIGNAL(zmp,OUT,ml::Vector)
,CONSTRUCT_SIGNAL(acceleration,OUT,ml::Vector)
--
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