Skip to content
GitLab
Projects
Groups
Snippets
/
Help
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in / Register
Toggle navigation
Menu
Open sidebar
Humanoid Path Planner
hpp-rbprm-corba
Commits
aa1fa128
Commit
aa1fa128
authored
Mar 19, 2018
by
Pierre Fernbach
Browse files
sampleId in fullBody are now int instead of short (as already done in addLimb)
parent
ceaee6d5
Changes
3
Hide whitespace changes
Inline
Side-by-side
idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
View file @
aa1fa128
...
...
@@ -161,7 +161,7 @@ module hpp
///
\
param
sampleId
id
of
the
desired
samples
///
\
return
dofArray
Array
of
degrees
of
freedom
corresponding
to
the
current
configuration
of
the
robot
///
,
to
which
the
desired
limb
configuration
has
been
assigned
.
floatSeq
getSampleConfig
(
in
string
sampleName
,
in
unsigned
short
sampleId
)
raises
(
Error
)
;
floatSeq
getSampleConfig
(
in
string
sampleName
,
in
unsigned
long
sampleId
)
raises
(
Error
)
;
///
Get
the
end
effector
position
of
a
given
limb
configuration
...
...
@@ -169,7 +169,7 @@ module hpp
///
\
param
sampleId
id
of
the
desired
samples
///
\
return
world
position
of
the
limb
end
effector
given
the
current
robot
configuration
and
the
///
and
the
selected
sample
floatSeq
getSamplePosition
(
in
string
sampleName
,
in
unsigned
short
sampleId
)
raises
(
Error
)
;
floatSeq
getSamplePosition
(
in
string
sampleName
,
in
unsigned
long
sampleId
)
raises
(
Error
)
;
///
Get
the
end
effector
position
for
a
given
configuration
,
assuming
z
normal
///
\
param
limbName
name
of
the
limb
from
which
to
retrieve
a
sample
...
...
@@ -193,7 +193,7 @@ module hpp
///
\
param
valueName
name
of
the
analytic
measure
desired
///
\
param
sampleId
id
of
the
considered
sample
///
\
return
the
value
computed
for
the
given
sample
and
analytics
double
getSampleValue
(
in
string
limbName
,
in
string
valueName
,
in
unsigned
short
sampleId
)
raises
(
Error
)
;
double
getSampleValue
(
in
string
limbName
,
in
string
valueName
,
in
unsigned
long
sampleId
)
raises
(
Error
)
;
///
compute
the
distance
between
all
effectors
replaced
between
two
states
///
does
not
account
for
contact
not
present
in
both
states
...
...
src/rbprmbuilder.impl.cc
View file @
aa1fa128
...
...
@@ -217,7 +217,7 @@ namespace hpp {
analysisFactory_
=
new
sampling
::
AnalysisFactory
(
fullBody
());
}
hpp
::
floatSeq
*
RbprmBuilder
::
getSampleConfig
(
const
char
*
limb
,
unsigned
shor
t
sampleId
)
throw
(
hpp
::
Error
)
hpp
::
floatSeq
*
RbprmBuilder
::
getSampleConfig
(
const
char
*
limb
,
unsigned
in
t
sampleId
)
throw
(
hpp
::
Error
)
{
if
(
!
fullBodyLoaded_
)
throw
Error
(
"No full body robot was loaded"
);
...
...
@@ -246,7 +246,7 @@ namespace hpp {
}
hpp
::
floatSeq
*
RbprmBuilder
::
getSamplePosition
(
const
char
*
limb
,
unsigned
shor
t
sampleId
)
throw
(
hpp
::
Error
)
hpp
::
floatSeq
*
RbprmBuilder
::
getSamplePosition
(
const
char
*
limb
,
unsigned
in
t
sampleId
)
throw
(
hpp
::
Error
)
{
if
(
!
fullBodyLoaded_
)
throw
Error
(
"No full body robot was loaded"
);
...
...
@@ -553,7 +553,7 @@ namespace hpp {
return
dofArray
;
}
double
RbprmBuilder
::
getSampleValue
(
const
char
*
limb
,
const
char
*
valueName
,
unsigned
shor
t
sampleId
)
throw
(
hpp
::
Error
)
double
RbprmBuilder
::
getSampleValue
(
const
char
*
limb
,
const
char
*
valueName
,
unsigned
in
t
sampleId
)
throw
(
hpp
::
Error
)
{
const
T_Limb
&
limbs
=
fullBody
()
->
GetLimbs
();
T_Limb
::
const_iterator
lit
=
limbs
.
find
(
std
::
string
(
limb
));
...
...
src/rbprmbuilder.impl.hh
View file @
aa1fa128
...
...
@@ -213,12 +213,12 @@ namespace hpp {
virtual
void
boundSO3
(
const
hpp
::
floatSeq
&
limitszyx
)
throw
(
hpp
::
Error
);
virtual
hpp
::
floatSeq
*
getSampleConfig
(
const
char
*
limb
,
unsigned
shor
t
sampleId
)
throw
(
hpp
::
Error
);
virtual
hpp
::
floatSeq
*
getSamplePosition
(
const
char
*
limb
,
unsigned
shor
t
sampleId
)
throw
(
hpp
::
Error
);
virtual
hpp
::
floatSeq
*
getSampleConfig
(
const
char
*
limb
,
unsigned
in
t
sampleId
)
throw
(
hpp
::
Error
);
virtual
hpp
::
floatSeq
*
getSamplePosition
(
const
char
*
limb
,
unsigned
in
t
sampleId
)
throw
(
hpp
::
Error
);
virtual
hpp
::
floatSeqSeq
*
getEffectorPosition
(
const
char
*
limb
,
const
hpp
::
floatSeq
&
configuration
)
throw
(
hpp
::
Error
);
virtual
CORBA
::
UShort
getNumSamples
(
const
char
*
limb
)
throw
(
hpp
::
Error
);
virtual
hpp
::
floatSeq
*
getOctreeNodeIds
(
const
char
*
limb
)
throw
(
hpp
::
Error
);
virtual
double
getSampleValue
(
const
char
*
limb
,
const
char
*
valueName
,
unsigned
shor
t
sampleId
)
throw
(
hpp
::
Error
);
virtual
double
getSampleValue
(
const
char
*
limb
,
const
char
*
valueName
,
unsigned
in
t
sampleId
)
throw
(
hpp
::
Error
);
virtual
double
getEffectorDistance
(
unsigned
short
state1
,
unsigned
short
state2
)
throw
(
hpp
::
Error
);
rbprm
::
State
generateContacts_internal
(
const
hpp
::
floatSeq
&
configuration
,
...
...
Write
Preview
Supports
Markdown
0%
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment