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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
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
):
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"
name
=
"bezier_curve"
list
=
r
.
client
.
gui
.
getNodeList
()
list
=
r
.
client
.
gui
.
getNodeList
()
i
=
0
i
=
0
...
...
src/hpp/corbaserver/rbprm/rbprmfullbody.py
View file @
6aed5bec
...
@@ -16,10 +16,11 @@
...
@@ -16,10 +16,11 @@
# hpp-manipulation-corba. If not, see
# hpp-manipulation-corba. If not, see
# <http://www.gnu.org/licenses/>.
# <http://www.gnu.org/licenses/>.
from
numpy
import
array
,
matrix
from
hpp.corbaserver.rbprm
import
Client
as
RbprmClient
from
hpp.corbaserver.rbprm
import
Client
as
RbprmClient
from
hpp.corbaserver.robot
import
Robot
from
hpp.corbaserver.robot
import
Robot
from
curves
import
bezier
from
ndcurves
import
bezier
from
numpy
import
array
,
matrix
# # Load and handle a RbprmFullbody robot for rbprm planning
# # Load and handle a RbprmFullbody robot for rbprm planning
...
@@ -31,7 +32,7 @@ class FullBody(Robot):
...
@@ -31,7 +32,7 @@ class FullBody(Robot):
def
__init__
(
self
,
robotName
=
None
,
rootJointType
=
None
,
load
=
True
,
client
=
None
,
hppcorbaClient
=
None
,
clientRbprm
=
None
):
def
__init__
(
self
,
robotName
=
None
,
rootJointType
=
None
,
load
=
True
,
client
=
None
,
hppcorbaClient
=
None
,
clientRbprm
=
None
):
Robot
.
__init__
(
self
,
robotName
,
rootJointType
,
False
,
client
,
hppcorbaClient
)
Robot
.
__init__
(
self
,
robotName
,
rootJointType
,
False
,
client
,
hppcorbaClient
)
self
.
tf_root
=
"base_link"
self
.
tf_root
=
"base_link"
if
clientRbprm
==
None
:
if
clientRbprm
is
None
:
self
.
clientRbprm
=
RbprmClient
()
self
.
clientRbprm
=
RbprmClient
()
else
:
else
:
self
.
clientRbprm
=
clientRbprm
self
.
clientRbprm
=
clientRbprm
...
...
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