Commit 42e882a5 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

Use hpp-pinocchio

parent 732c57a2
......@@ -29,9 +29,9 @@ namespace hpp {
typedef core::ConfigProjectorPtr_t ConfigProjectorPtr_t;
typedef core::Configuration_t Configuration_t;
typedef core::ConfigurationPtr_t ConfigurationPtr_t;
typedef model::DevicePtr_t DevicePtr_t;
typedef model::HumanoidRobotPtr_t HumanoidRobotPtr_t;
typedef model::HumanoidRobot HumanoidRobot;
typedef pinocchio::DevicePtr_t DevicePtr_t;
typedef pinocchio::HumanoidRobotPtr_t HumanoidRobotPtr_t;
typedef pinocchio::HumanoidRobot HumanoidRobot;
class Server;
} // namespace wholebodyStep
......
......@@ -21,10 +21,10 @@
#include <cassert>
#include <hpp/util/debug.hh>
#include <hpp/model/humanoid-robot.hh>
#include <hpp/model/center-of-mass-computation.hh>
#include <hpp/pinocchio/center-of-mass-computation.hh>
#include <hpp/core/config-projector.hh>
#include <hpp/core/constraint-set.hh>
#include <hpp/core/problem-solver.hh>
#include <hpp/wholebody-step/static-stability-constraint.hh>
#include <hpp/corbaserver/wholebody-step/server.hh>
......@@ -35,7 +35,7 @@ namespace hpp {
using hpp::wholebodyStep::createAlignedCOMStabilityConstraint;
using hpp::core::ConstraintSetPtr_t;
using hpp::core::ConfigProjectorPtr_t;
using hpp::model::CenterOfMassComputation;
using hpp::pinocchio::CenterOfMassComputation;
namespace impl {
namespace {
......@@ -129,7 +129,7 @@ namespace hpp {
static ConfigurationPtr_t dofSeqToConfig
(ProblemSolverPtr_t problemSolver, const hpp::dofSeq& dofArray)
{
size_type configDim = (size_type) dofArray.length();
CORBA::ULong configDim = dofArray.length();
ConfigurationPtr_t config (new Configuration_t (configDim));
// Get robot in hppPlanner object.
......@@ -146,7 +146,7 @@ namespace hpp {
}
// Fill dof vector with dof array.
for (size_type iDof=0; iDof < configDim; ++iDof) {
for (CORBA::ULong iDof=0; iDof < configDim; ++iDof) {
(*config) [iDof] = dofArray [iDof];
}
return config;
......@@ -165,7 +165,7 @@ namespace hpp {
const StaticStabilityType type)
throw (hpp::Error)
{
using model::CenterOfMassComputationPtr_t;
using pinocchio::CenterOfMassComputationPtr_t;
using core::DifferentiableFunctionPtr_t;
try {
ConfigurationPtr_t config = dofSeqToConfig (problemSolver(), dofArray);
......@@ -182,7 +182,6 @@ namespace hpp {
if (comN.compare ("") == 0) {
comc = CenterOfMassComputation::create (robot);
comc->add (robot->rootJoint ());
comc->computeMass ();
} else {
comc = problemSolver()->centerOfMassComputation (comN);
if (!comc)
......
......@@ -21,9 +21,8 @@
# define HPP_WHOLEBODY_STEP_CORBA_WHOLEBODY_STEP_HH
# include <omniORB4/CORBA.h>
# include <hpp/core/problem-solver.hh>
# include <hpp/corbaserver/wholebody-step/fwd.hh>
# include "hpp/corbaserver/wholebody-step/problem.hh"
# include <hpp/corbaserver/wholebody-step/problem.hh>
namespace hpp {
namespace wholebodyStep {
......
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