remove old steering method and pathPlanner from problemSolver

script/scenarios/demos/ground_crouch_hyq_interp.py

@@ -179,8 +179,8 @@ def interpolate():
 	r.client.gui.setVisibility("hyq", "ON")
 	tp.r.client.gui.setVisibility("toto", "OFF")
 	tp.r.client.gui.setVisibility("hyq_trunk", "OFF")
-	for i in range(7,20):
-		act(i,1,optim_effectors=True)
+	for i in range(7,23):
+		act(i,1,optim_effectors=False)
 		
 def play(frame_rate = 1./24.):
 	play_traj(fullBody,pp,frame_rate)
@@ -216,4 +216,16 @@ def g():
 	play()
 
 print "Root path generated in " + str(tp.t) + " ms."
+
+
+a()
+b()
+c()
+d()
+e()
+f()
+
+
+
+
 	

script/scenarios/demos/stair_bauzil_hrp2_interp.py

@@ -198,6 +198,18 @@ def contactPlan():
 		r(configs[i]);
 		time.sleep(0.5)		
 		
+def interpolate():
+	tp.cl.problem.selectProblem("default")
+	r.client.gui.setVisibility("hrp2_14", "ON")
+	tp.r.client.gui.setVisibility("toto", "OFF")
+	tp.r.client.gui.setVisibility("hrp2_trunk_flexible", "OFF")
+	for i in range(7,20):
+		act(i,1,optim_effectors=True)
+		
+def play(frame_rate = 1./24.):
+	play_traj(fullBody,pp,frame_rate)
+	
+
 		
 def a():
 	print "initial configuration"
@@ -218,6 +230,14 @@ def d():
 def e():
 	print "displaying contact plan"
 	contactPlan()
+
+def f():
+	print "computing feasible com trajectory"
+	interpolate()
+
+def g():
+	print "playing feasible trajectory"
+	play()
 	
 print "Root path generated in " + str(tp.t) + " ms."
 	

src/hpp-rbprm-corba.cc

@@ -29,11 +29,6 @@ typedef hpp::affordanceCorba::Server AffordanceServer;
 int main (int argc, char* argv [])
 {
     hpp::core::ProblemSolverPtr_t problemSolver (hpp::core::ProblemSolver::create());
-    problemSolver->addSteeringMethodType("SteeringDynamic", boost::bind(                                                   static_cast<hpp::rbprm::SteeringDynamicPtr_t (*)(const hpp::core::ProblemPtr_t&)>                                                     (&hpp::rbprm::SteeringDynamic::create), _1 ));
-    problemSolver->addSteeringMethodType("SteeringParabola", boost::bind(                                                   static_cast<hpp::rbprm::SteeringMethodParabolaPtr_t (*)(const hpp::core::ProblemPtr_t&)>                                                     (&hpp::rbprm::SteeringMethodParabola::create), _1 ));
-
-
-    problemSolver->addPathPlannerType("RRTdynamic",hpp::rbprm::DynamicPlanner::createWithRoadmap);
 
 
     CorbaServer corbaServer (problemSolver, argc,