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Humanoid Path Planner
hpp-rbprm-corba
Commits
6aed5bec
Unverified
Commit
6aed5bec
authored
Apr 08, 2021
by
Guilhem Saurel
Committed by
GitHub
Apr 08, 2021
Browse files
Merge pull request #81 from nim65s/devel
curves → ndcurves
parents
08526a8b
98126ad1
Pipeline
#13925
failed with stage
in 2 minutes and 39 seconds
Changes
2
Pipelines
1
Hide whitespace changes
Inline
Side-by-side
script/tools/disp_bezier.py
View file @
6aed5bec
from
curves
import
bezier
,
polynomial
from
numpy
import
matrix
from
numpy.linalg
import
norm
from
ndcurves
import
bezier
,
polynomial
def
displayBezierCurve
(
r
,
curve
,
step
=
0.001
,
color
=
[
0.85
,
0.75
,
0.15
,
1.0
],
name
=
None
,
offset
=
None
):
if
name
==
None
:
if
name
is
None
:
name
=
"bezier_curve"
list
=
r
.
client
.
gui
.
getNodeList
()
i
=
0
...
...
src/hpp/corbaserver/rbprm/rbprmfullbody.py
View file @
6aed5bec
...
...
@@ -16,10 +16,11 @@
# hpp-manipulation-corba. If not, see
# <http://www.gnu.org/licenses/>.
from
numpy
import
array
,
matrix
from
hpp.corbaserver.rbprm
import
Client
as
RbprmClient
from
hpp.corbaserver.robot
import
Robot
from
curves
import
bezier
from
numpy
import
array
,
matrix
from
ndcurves
import
bezier
# # Load and handle a RbprmFullbody robot for rbprm planning
...
...
@@ -31,7 +32,7 @@ class FullBody(Robot):
def
__init__
(
self
,
robotName
=
None
,
rootJointType
=
None
,
load
=
True
,
client
=
None
,
hppcorbaClient
=
None
,
clientRbprm
=
None
):
Robot
.
__init__
(
self
,
robotName
,
rootJointType
,
False
,
client
,
hppcorbaClient
)
self
.
tf_root
=
"base_link"
if
clientRbprm
==
None
:
if
clientRbprm
is
None
:
self
.
clientRbprm
=
RbprmClient
()
else
:
self
.
clientRbprm
=
clientRbprm
...
...
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