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Humanoid Path Planner
hpp-rbprm-corba
Commits
288e92af
Commit
288e92af
authored
Jan 07, 2019
by
Pierre Fernbach
Browse files
dynamicValidation constructor now take a Device
parent
25827f2d
Changes
1
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Inline
Side-by-side
src/rbprmbuilder.impl.hh
View file @
288e92af
...
...
@@ -109,7 +109,7 @@ namespace hpp {
mass
=
robot
->
mass
();
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
);
DynamicValidationPtr_t
dynamicVal
=
DynamicValidation
::
create
(
rectangularContact
,
sizeFootX
,
sizeFootY
,
mass
,
mu
,
robot
);
collisionChecking
->
addDynamicValidator
(
dynamicVal
);
return
collisionChecking
;
...
...
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