Commit 6f989f0c authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

curves → ndcurves

parent c8541947
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:
list = r.client.gui.getNodeList()
......@@ -16,10 +16,11 @@
# hpp-manipulation-corba. If not, see
# <>.
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()
self.clientRbprm = clientRbprm
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