Commit 24fcf3b9 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[Tools] surface from path: use the limbs name defined in the rbprmBuilder

parent befc262c
...@@ -66,18 +66,18 @@ def getRotationMatrixFromConfigs(configs): ...@@ -66,18 +66,18 @@ def getRotationMatrixFromConfigs(configs):
# get contacted surface names at configuration # get contacted surface names at configuration
def getContactsNames(rbprmBuilder, i, q): def getContactsNames(rbprmBuilder, i, q):
if i % 2 == LF: # left leg if i % 2 == LF: # left leg
step_contacts = rbprmBuilder.clientRbprm.rbprm.getCollidingObstacleAtConfig(q, ROBOT_NAME + '_lleg_rom') step_contacts = rbprmBuilder.clientRbprm.rbprm.getCollidingObstacleAtConfig(q, rbprmBuilder.lLegId)
elif i % 2 == RF: # right leg elif i % 2 == RF: # right leg
step_contacts = rbprmBuilder.clientRbprm.rbprm.getCollidingObstacleAtConfig(q, ROBOT_NAME + '_rleg_rom') step_contacts = rbprmBuilder.clientRbprm.rbprm.getCollidingObstacleAtConfig(q, rbprmBuilder.rLegId)
return step_contacts return step_contacts
# get intersections with the rom and surface at configuration # get intersections with the rom and surface at configuration
def getContactsIntersections(rbprmBuilder, i, q): def getContactsIntersections(rbprmBuilder, i, q):
if i % 2 == LF: # left leg if i % 2 == LF: # left leg
intersections = rbprmBuilder.getContactSurfacesAtConfig(q, ROBOT_NAME + '_lleg_rom') intersections = rbprmBuilder.getContactSurfacesAtConfig(q, rbprmBuilder.lLegId)
elif i % 2 == RF: # right leg elif i % 2 == RF: # right leg
intersections = rbprmBuilder.getContactSurfacesAtConfig(q, ROBOT_NAME + '_rleg_rom') intersections = rbprmBuilder.getContactSurfacesAtConfig(q, rbprmBuilder.rLegId)
return intersections return intersections
......
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