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Humanoid Path Planner
hpp-rbprm-corba
Commits
a5ebb441
Commit
a5ebb441
authored
Nov 15, 2019
by
Guilhem Saurel
Browse files
Format
parent
03e2ab4c
Pipeline
#6848
passed with stage
in 5 minutes and 18 seconds
Changes
2
Pipelines
1
Hide whitespace changes
Inline
Side-by-side
src/CMakeLists.txt
View file @
a5ebb441
...
...
@@ -17,8 +17,8 @@
SET
(
LIBRARY_NAME
${
PROJECT_NAME
}
)
SET
(
IDL_SOURCES
rbprmbuilder
)
rbprmbuilder
)
INCLUDE
(
${
HPP_CORBASERVER_CMAKE_PLUGIN
}
)
...
...
@@ -80,27 +80,27 @@ INSTALL(
)
INSTALL
(
FILES
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/client.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/rbprmbuilder.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/rbprmfullbody.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/rbprmstate.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/state_alg.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/fewstepsplanner.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/client.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/rbprmbuilder.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/rbprmfullbody.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/rbprmstate.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/state_alg.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/fewstepsplanner.py
DESTINATION
${
PYTHON_SITELIB
}
/hpp/corbaserver/rbprm
)
INSTALL
(
FILES
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/tools/__init__.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/tools/generateROMs.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/tools/com_constraints.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/tools/plot_analytics.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/tools/affordance_centroids.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/tools/cwc_trajectory.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/tools/cwc_trajectory_helper.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/tools/path_to_trajectory.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/tools/obj_to_constraints.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/tools/time_out.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/tools/display_tools.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/tools/__init__.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/tools/generateROMs.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/tools/com_constraints.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/tools/plot_analytics.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/tools/affordance_centroids.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/tools/cwc_trajectory.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/tools/cwc_trajectory_helper.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/tools/path_to_trajectory.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/tools/obj_to_constraints.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/tools/time_out.py
${
CMAKE_CURRENT_SOURCE_DIR
}
/hpp/corbaserver/rbprm/tools/display_tools.py
DESTINATION
${
PYTHON_SITELIB
}
/hpp/corbaserver/rbprm/tools
)
# Stand alone corba server
...
...
src/hpp/corbaserver/rbprm/tools/display_tools.py
View file @
a5ebb441
import
time
def
createSphere
(
name
,
r
,
size
=
0.01
,
color
=
[
0
,
0
,
0
,
1
]):
r
.
client
.
gui
.
addSphere
(
name
,
size
,
color
)
r
.
client
.
gui
.
addToGroup
(
name
,
r
.
sceneName
)
r
.
client
.
gui
.
setVisibility
(
name
,
'ALWAYS_ON_TOP'
)
r
.
client
.
gui
.
refresh
()
def
moveSphere
(
name
,
r
,
pos
):
if
len
(
pos
)
==
3
:
q
=
pos
+
[
1
,
0
,
0
,
0
]
elif
len
(
pos
)
==
7
:
q
=
pos
else
:
raise
ValueError
(
"pos should be of size 3 or 7 "
)
r
.
client
.
gui
.
applyConfiguration
(
name
,
q
)
r
.
client
.
gui
.
refresh
()
def
displayContactSequence
(
r
,
configs
,
pause
=
1.
):
for
i
in
range
(
0
,
len
(
configs
)):
r
(
configs
[
i
])
time
.
sleep
(
pause
)
def
moveObject
(
viewer
,
pos
,
rotation
=
[
1
,
0
,
0
,
0
]):
viewer
.
client
.
gui
.
applyConfiguration
(
name
,
pos
+
rotation
)
viewer
.
client
.
gui
.
refresh
()
def
addVector
(
viewer
,
rbprmBuilder
,
color
,
v
,
name
=
None
):
gui
=
viewer
.
client
.
gui
if
name
==
None
:
i
=
0
name
=
'vector_'
+
str
(
i
)
while
name
in
gui
.
getNodeList
():
i
=
i
+
1
name
=
'sphere_'
+
str
(
i
)
quat
=
rbprmBuilder
.
quaternionFromVector
(
v
[
3
:
6
])
v
[
3
:
7
]
=
quat
[::]
gui
.
addArrow
(
name
,
0.02
,
1
,
color
)
gui
.
addToGroup
(
name
,
viewer
.
sceneName
)
gui
.
setVisibility
(
name
,
"ON"
)
gui
.
applyConfiguration
(
name
,
v
)
gui
.
refresh
()
def
displaySurfaceFromPoints
(
viewer
,
p_list
,
color
=
[
0
,
0
,
0
,
1
],
name
=
None
):
gui
=
viewer
.
client
.
gui
if
name
==
None
:
i
=
0
name
=
'surface_'
+
str
(
i
)
while
name
in
gui
.
getNodeList
():
i
=
i
+
1
name
=
'surface_'
+
str
(
i
)
gui
.
addCurve
(
name
,
p_list
,
color
)
gui
.
addToGroup
(
name
,
viewer
.
sceneName
)
gui
.
refresh
()
def
createSphere
(
name
,
r
,
size
=
0.01
,
color
=
[
0
,
0
,
0
,
1
]):
r
.
client
.
gui
.
addSphere
(
name
,
size
,
color
)
r
.
client
.
gui
.
addToGroup
(
name
,
r
.
sceneName
)
r
.
client
.
gui
.
setVisibility
(
name
,
'ALWAYS_ON_TOP'
)
r
.
client
.
gui
.
refresh
()
def
moveSphere
(
name
,
r
,
pos
):
if
len
(
pos
)
==
3
:
q
=
pos
+
[
1
,
0
,
0
,
0
]
elif
len
(
pos
)
==
7
:
q
=
pos
else
:
raise
ValueError
(
"pos should be of size 3 or 7 "
)
r
.
client
.
gui
.
applyConfiguration
(
name
,
q
)
r
.
client
.
gui
.
refresh
()
def
displayContactSequence
(
r
,
configs
,
pause
=
1.
):
for
i
in
range
(
0
,
len
(
configs
)):
r
(
configs
[
i
])
time
.
sleep
(
pause
)
def
moveObject
(
viewer
,
pos
,
rotation
=
[
1
,
0
,
0
,
0
]):
viewer
.
client
.
gui
.
applyConfiguration
(
name
,
pos
+
rotation
)
# noqa TODO
viewer
.
client
.
gui
.
refresh
()
def
addVector
(
viewer
,
rbprmBuilder
,
color
,
v
,
name
=
None
):
gui
=
viewer
.
client
.
gui
if
name
is
None
:
i
=
0
name
=
'vector_'
+
str
(
i
)
while
name
in
gui
.
getNodeList
():
i
=
i
+
1
name
=
'sphere_'
+
str
(
i
)
quat
=
rbprmBuilder
.
quaternionFromVector
(
v
[
3
:
6
])
v
[
3
:
7
]
=
quat
[::]
gui
.
addArrow
(
name
,
0.02
,
1
,
color
)
gui
.
addToGroup
(
name
,
viewer
.
sceneName
)
gui
.
setVisibility
(
name
,
"ON"
)
gui
.
applyConfiguration
(
name
,
v
)
gui
.
refresh
()
def
displaySurfaceFromPoints
(
viewer
,
p_list
,
color
=
[
0
,
0
,
0
,
1
],
name
=
None
):
gui
=
viewer
.
client
.
gui
if
name
is
None
:
i
=
0
name
=
'surface_'
+
str
(
i
)
while
name
in
gui
.
getNodeList
():
i
=
i
+
1
name
=
'surface_'
+
str
(
i
)
gui
.
addCurve
(
name
,
p_list
,
color
)
gui
.
addToGroup
(
name
,
viewer
.
sceneName
)
gui
.
refresh
()
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