Skip to content
GitLab
Projects
Groups
Snippets
/
Help
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in / Register
Toggle navigation
Menu
Open sidebar
Humanoid Path Planner
hpp-rbprm-corba
Commits
25827f2d
Commit
25827f2d
authored
Jan 07, 2019
by
Pierre Fernbach
Browse files
update to new parameters declarations in rbprm
parent
a21ee22a
Changes
1
Hide whitespace changes
Inline
Side-by-side
src/rbprmbuilder.impl.hh
View file @
25827f2d
...
...
@@ -100,24 +100,15 @@ namespace hpp {
// build the dynamicValidation :
double
sizeFootX
,
sizeFootY
,
mass
,
mu
;
bool
rectangularContact
;
try
{
sizeFootX
=
problemSolver_
->
problem
()
->
getParameter
(
"sizeFootX"
).
floatValue
()
/
2.
;
sizeFootY
=
problemSolver_
->
problem
()
->
getParameter
(
"sizeFootY"
).
floatValue
()
/
2.
;
rectangularContact
=
1
;
}
catch
(
const
std
::
exception
&
e
)
{
hppDout
(
warning
,
"Warning : size of foot not definied, use 0 (contact point)"
);
sizeFootX
=
0
;
sizeFootY
=
0
;
sizeFootX
=
problemSolver_
->
problem
()
->
getParameter
(
std
::
string
(
"DynamicPlanner/sizeFootX"
)).
floatValue
()
/
2.
;
sizeFootY
=
problemSolver_
->
problem
()
->
getParameter
(
std
::
string
(
"DynamicPlanner/sizeFootY"
)).
floatValue
()
/
2.
;
if
(
sizeFootX
>
0.
&&
sizeFootY
>
0.
)
rectangularContact
=
1
;
else
rectangularContact
=
0
;
}
mass
=
robot
->
mass
();
try
{
mu
=
problemSolver_
->
problem
()
->
getParameter
(
"friction"
).
floatValue
();
hppDout
(
notice
,
"mu define in python : "
<<
mu
);
}
catch
(
const
std
::
exception
&
e
)
{
mu
=
0.5
;
hppDout
(
notice
,
"mu not defined, take : "
<<
mu
<<
" as default."
);
}
mu
=
problemSolver_
->
problem
()
->
getParameter
(
std
::
string
(
"DynamicPlanner/friction"
)).
floatValue
();
hppDout
(
notice
,
"mu define in python : "
<<
mu
);
DynamicValidationPtr_t
dynamicVal
=
DynamicValidation
::
create
(
rectangularContact
,
sizeFootX
,
sizeFootY
,
mass
,
mu
);
collisionChecking
->
addDynamicValidator
(
dynamicVal
);
...
...
Write
Preview
Supports
Markdown
0%
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment