From c1f212e02b9b36b1dc617ed0f4c99b098cf763cd Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@laas.fr>
Date: Tue, 20 Dec 2016 15:44:49 +0100
Subject: [PATCH] add a method to set a flag in fullBody, to check if we use
the acceleration in isStable
---
idl/hpp/corbaserver/rbprm/rbprmbuilder.idl | 5 +++++
src/hpp/corbaserver/rbprm/rbprmfullbody.py | 7 +++++++
src/rbprmbuilder.impl.cc | 4 ++++
src/rbprmbuilder.impl.hh | 1 +
4 files changed, 17 insertions(+)
diff --git a/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl b/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
index 978bd578..ea99340e 100755
--- a/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
+++ b/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
@@ -93,6 +93,11 @@ module hpp
void loadFullBodyRobotFromExistingRobot ()
raises (Error);
+ /// set a boolean in rbprmFullBody
+ /// if true, the acceleration doesn't account for the stability check
+ void setStaticStability(in boolean staticStability)
+ raises (Error);
+
/// Set Rom constraints for the configuration shooter
/// a configuration will only be valid if all roms indicated
/// are colliding with the environment.
diff --git a/src/hpp/corbaserver/rbprm/rbprmfullbody.py b/src/hpp/corbaserver/rbprm/rbprmfullbody.py
index 2bdb61d6..910635f1 100755
--- a/src/hpp/corbaserver/rbprm/rbprmfullbody.py
+++ b/src/hpp/corbaserver/rbprm/rbprmfullbody.py
@@ -262,6 +262,13 @@ class FullBody (object):
def setEndState(self, configuration, contacts):
return self.client.rbprm.rbprm.setEndState(configuration, contacts)
+ ## set a boolean in rbprmFullBody
+ # if true, the acceleration doesn't account for the stability check
+ #
+ # \param staticStability boolean
+ def setStaticStability(self,staticStability):
+ return self.client.rbprm.rbprm.setStaticStability(staticStability)
+
## Saves a computed contact sequence in a given filename
#
# \param The file where the configuration must be saved
diff --git a/src/rbprmbuilder.impl.cc b/src/rbprmbuilder.impl.cc
index 8ca1b6cd..150413ee 100755
--- a/src/rbprmbuilder.impl.cc
+++ b/src/rbprmbuilder.impl.cc
@@ -569,6 +569,10 @@ namespace hpp {
return res;
}
+ void RbprmBuilder::setStaticStability(const bool staticStability) throw (hpp::Error){
+ fullBody_->staticStability(staticStability);
+ }
+
void RbprmBuilder::setFilter(const hpp::Names_t& roms) throw (hpp::Error)
{
diff --git a/src/rbprmbuilder.impl.hh b/src/rbprmbuilder.impl.hh
index a12ab7fe..2ae2ed86 100755
--- a/src/rbprmbuilder.impl.hh
+++ b/src/rbprmbuilder.impl.hh
@@ -115,6 +115,7 @@ namespace hpp {
virtual void loadFullBodyRobotFromExistingRobot () throw (hpp::Error);
+ void setStaticStability(const bool staticStability) 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);
--
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