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Humanoid Path Planner
hpp-rbprm-corba
Commits
5d5af2e9
Commit
5d5af2e9
authored
May 29, 2018
by
Pierre Fernbach
Browse files
[test transition] update API to use the continuous formulation
parent
d55be67b
Changes
5
Hide whitespace changes
Inline
Side-by-side
data/meshes/floor_bauzil.stl
0 → 100644
View file @
5d5af2e9
File added
idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
View file @
5d5af2e9
...
...
@@ -772,7 +772,7 @@ module hpp
boolean
isReachableFromState
(
in
unsigned
short
stateFrom
,
in
unsigned
short
stateTo
)
raises
(
Error
)
;
floatSeq
isDynamicallyReachableFromState
(
in
unsigned
short
stateFrom
,
in
unsigned
short
stateTo
,
in
boolean
addPathPerPhase
,
in
floatSeq
timings
,
in
unsigned
short
numPointsPerPhase
)
raises
(
Error
)
;
floatSeq
isDynamicallyReachableFromState
(
in
unsigned
short
stateFrom
,
in
unsigned
short
stateTo
,
in
boolean
addPathPerPhase
,
in
floatSeq
timings
,
in
short
numPointsPerPhase
)
raises
(
Error
)
;
}
; // interface Robot
...
...
src/hpp/corbaserver/rbprm/rbprmfullbody.py
View file @
5d5af2e9
...
...
@@ -1158,6 +1158,6 @@ class FullBody (object):
def
isReachableFromState
(
self
,
stateFrom
,
stateTo
):
return
self
.
client
.
rbprm
.
rbprm
.
isReachableFromState
(
stateFrom
,
stateTo
)
def
isDynamicallyReachableFromState
(
self
,
stateFrom
,
stateTo
,
addPathPerPhase
=
False
,
timings
=
[],
numPointsPerPhases
=
3
):
def
isDynamicallyReachableFromState
(
self
,
stateFrom
,
stateTo
,
addPathPerPhase
=
False
,
timings
=
[],
numPointsPerPhases
=
5
):
return
self
.
client
.
rbprm
.
rbprm
.
isDynamicallyReachableFromState
(
stateFrom
,
stateTo
,
addPathPerPhase
,
timings
,
numPointsPerPhases
)
src/rbprmbuilder.impl.cc
View file @
5d5af2e9
...
...
@@ -3363,7 +3363,7 @@ assert(s2 == s1 +1);
hpp
::
floatSeq
*
RbprmBuilder
::
isDynamicallyReachableFromState
(
unsigned
short
stateFrom
,
unsigned
short
stateTo
,
bool
addPathPerPhase
,
const
hpp
::
floatSeq
&
timings
,
unsigned
short
numPointPerPhase
)
throw
(
hpp
::
Error
){
hpp
::
floatSeq
*
RbprmBuilder
::
isDynamicallyReachableFromState
(
unsigned
short
stateFrom
,
unsigned
short
stateTo
,
bool
addPathPerPhase
,
const
hpp
::
floatSeq
&
timings
,
short
numPointPerPhase
)
throw
(
hpp
::
Error
){
if
(
!
fullBodyLoaded_
){
throw
std
::
runtime_error
(
"fullBody not loaded"
);
}
...
...
@@ -3379,7 +3379,7 @@ assert(s2 == s1 +1);
Ts
.
push_back
(
t_config
[
i
]);
res
=
reachability
::
isReachableDynamic
(
fullBody
(),
lastStatesComputed_
[
stateFrom
],
lastStatesComputed_
[
stateTo
],
false
,
Ts
,
numPointPerPhase
);
}
else
{
res
=
reachability
::
isReachableDynamic
(
fullBody
(),
lastStatesComputed_
[
stateFrom
],
lastStatesComputed_
[
stateTo
],
false
);
res
=
reachability
::
isReachableDynamic
(
fullBody
(),
lastStatesComputed_
[
stateFrom
],
lastStatesComputed_
[
stateTo
],
false
,
std
::
vector
<
double
>
(),
numPointPerPhase
);
}
if
(
res
.
success
()){
std
::
vector
<
int
>
ids
;
...
...
src/rbprmbuilder.impl.hh
View file @
5d5af2e9
...
...
@@ -367,7 +367,7 @@ namespace hpp {
virtual
bool
areKinematicsConstraintsVerified
(
const
hpp
::
floatSeq
&
point
)
throw
(
hpp
::
Error
);
virtual
bool
areKinematicsConstraintsVerifiedForState
(
unsigned
short
stateId
,
const
hpp
::
floatSeq
&
point
)
throw
(
hpp
::
Error
);
virtual
bool
isReachableFromState
(
unsigned
short
stateFrom
,
unsigned
short
stateTo
)
throw
(
hpp
::
Error
);
virtual
hpp
::
floatSeq
*
isDynamicallyReachableFromState
(
unsigned
short
stateFrom
,
unsigned
short
stateTo
,
bool
addPathPerPhase
,
const
hpp
::
floatSeq
&
timings
,
unsigned
short
numPointPerPhase
)
throw
(
hpp
::
Error
);
virtual
hpp
::
floatSeq
*
isDynamicallyReachableFromState
(
unsigned
short
stateFrom
,
unsigned
short
stateTo
,
bool
addPathPerPhase
,
const
hpp
::
floatSeq
&
timings
,
short
numPointPerPhase
)
throw
(
hpp
::
Error
);
void
selectFullBody
(
const
char
*
name
)
throw
(
hpp
::
Error
)
...
...
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