From ad74f0e01ad01bae6c5e12a40445db336d5ef193 Mon Sep 17 00:00:00 2001
From: pFernbach <pierre.fernbach@gmail.com>
Date: Sun, 28 Apr 2019 17:38:45 +0200
Subject: [PATCH] [python api] add API for fullBody param
'usePosturalTaskContactCreation'
---
idl/hpp/corbaserver/rbprm/rbprmbuilder.idl | 4 ++++
src/hpp/corbaserver/rbprm/rbprmfullbody.py | 5 +++++
src/rbprmbuilder.impl.cc | 6 +++++-
src/rbprmbuilder.impl.hh | 1 +
4 files changed, 15 insertions(+), 1 deletion(-)
diff --git a/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl b/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
index 82210bf7..b6e9f6de 100644
--- a/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
+++ b/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
@@ -110,6 +110,10 @@ module hpp
void setPostureWeights(in floatSeq postureWeights)
raises (Error);
+ /// If true, optimize the orientation of all the newly created contact using a postural task
+ void usePosturalTaskContactCreation(in boolean use)
+ raises (Error);
+
/// set a reference position of the end effector for the given ROM
void setReferenceEndEffector(in string romName, in floatSeq ref)
raises (Error);
diff --git a/src/hpp/corbaserver/rbprm/rbprmfullbody.py b/src/hpp/corbaserver/rbprm/rbprmfullbody.py
index 50b604cb..5a19c188 100755
--- a/src/hpp/corbaserver/rbprm/rbprmfullbody.py
+++ b/src/hpp/corbaserver/rbprm/rbprmfullbody.py
@@ -875,6 +875,11 @@ class FullBody (Robot):
def setPostureWeights(self,postureWeights):
return self.clientRbprm.rbprm.setPostureWeights(postureWeights)
+ ## If true, optimize the orientation of all the newly created contact using a postural task
+ # \param use bool
+ def usePosturalTaskContactCreation(self,use):
+ return self.clientRbprm.rbprm.usePosturalTaskContactCreation(use)
+
## return the time at the given state index (in the path computed during the first phase)
# \param stateId : index of the state
def getTimeAtState(self,stateId):
diff --git a/src/rbprmbuilder.impl.cc b/src/rbprmbuilder.impl.cc
index 4528ca42..7ba83a41 100644
--- a/src/rbprmbuilder.impl.cc
+++ b/src/rbprmbuilder.impl.cc
@@ -651,7 +651,11 @@ namespace hpp {
device->setEffectorReference(name,config);
}
-
+ void RbprmBuilder::usePosturalTaskContactCreation(const bool usePosturalTaskContactCreation) throw (hpp::Error){
+ if(!fullBodyLoaded_)
+ throw Error ("No full body robot was loaded");
+ fullBody()->usePosturalTaskContactCreation(usePosturalTaskContactCreation);
+ }
void RbprmBuilder::setFilter(const hpp::Names_t& roms) throw (hpp::Error)
{
diff --git a/src/rbprmbuilder.impl.hh b/src/rbprmbuilder.impl.hh
index 25d2ca5b..79b8ec80 100644
--- a/src/rbprmbuilder.impl.hh
+++ b/src/rbprmbuilder.impl.hh
@@ -198,6 +198,7 @@ namespace hpp {
void setReferenceConfig(const hpp::floatSeq &referenceConfig) throw (hpp::Error);
void setPostureWeights(const hpp::floatSeq &postureWeights) throw (hpp::Error);
void setReferenceEndEffector(const char* romName, const hpp::floatSeq &ref) throw(hpp::Error);
+ void usePosturalTaskContactCreation(const bool usePosturalTaskContactCreation) throw (hpp::Error);
virtual void setFilter(const hpp::Names_t& roms) throw (hpp::Error);
virtual void setAffordanceFilter(const char* romName, const hpp::Names_t& affordances) throw (hpp::Error);
--
GitLab