From b4569bdf143c64330ac6decfc297202b53fae636 Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@laas.fr>
Date: Wed, 24 Jul 2019 15:22:34 +0200
Subject: [PATCH] Update declaration of problemParameter
FullBody/frictionCoefficient
---
src/rbprmbuilder.impl.cc | 17 ++++++++++-------
1 file changed, 10 insertions(+), 7 deletions(-)
diff --git a/src/rbprmbuilder.impl.cc b/src/rbprmbuilder.impl.cc
index 1606f049..1eaa00e2 100644
--- a/src/rbprmbuilder.impl.cc
+++ b/src/rbprmbuilder.impl.cc
@@ -170,13 +170,9 @@ namespace hpp {
fullBodyMap_.selected_ = name;
if(problemSolver()){
if(problemSolver()->problem()){
- try {
- double mu = problemSolver()->problem()->getParameter ("friction").floatValue();
- fullBody()->setFriction(mu);
- hppDout(notice,"fullbody : mu define in python : "<<fullBody()->getFriction());
- } catch (const std::exception& e) {
- hppDout(notice,"fullbody : mu not defined, take : "<<fullBody()->getFriction()<<" as default.");
- }
+ double mu = problemSolver()->problem()->getParameter ("FullBody/frictionCoefficient").floatValue();
+ fullBody()->setFriction(mu);
+ hppDout(notice,"fullbody : friction coefficient used : "<<fullBody()->getFriction());
}else{
hppDout(warning,"No instance of problem while initializing fullBody");
}
@@ -3483,6 +3479,13 @@ namespace hpp {
return new hpp::floatSeq();
}
+ HPP_START_PARAMETER_DECLARATION(FullBody)
+ Problem::declareParameter(core::ParameterDescription (core::Parameter::FLOAT,
+ "FullBody/frictionCoefficient",
+ "The coefficient of friction used between the robot and the environment.",
+ core::Parameter(0.5)));
+ HPP_END_PARAMETER_DECLARATION(FullBody)
+
} // namespace impl
} // namespace rbprm
--
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