From 0dc683032b1936a6e7fed41a223f10aa26cc4be7 Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@laas.fr>
Date: Fri, 16 Mar 2018 14:42:11 +0100
Subject: [PATCH] [transition test] add path to kinematicConstraint obj and
param to reduce size of constraints in addLimb api. See commit 0ca10d8 in
rbprm
---
idl/hpp/corbaserver/rbprm/rbprmbuilder.idl | 3 ++-
src/hpp/corbaserver/rbprm/rbprmfullbody.py | 7 +++++--
src/rbprmbuilder.impl.cc | 4 ++--
src/rbprmbuilder.impl.hh | 2 +-
4 files changed, 10 insertions(+), 6 deletions(-)
diff --git a/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl b/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
index ff6f9e7..ee084b6 100755
--- a/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
+++ b/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
@@ -260,7 +260,8 @@ module hpp
void addLimb(in string id, in string limb, in string effector, in floatSeq offset, in floatSeq normal,
in double x, in double y, in unsigned long samples, in string heuristicName,
in double resolution, in string contactType, in double disableEffectorCollision,
- in double grasp,in floatSeq limbOffset) raises (Error);
+ in double grasp,in floatSeq limbOffset,
+ in string kinematicConstraintsPath, in double kinematicConstraintsMin) raises (Error);
/// Add a limb not used for contact generation
/// \param id user given name of the new limb
diff --git a/src/hpp/corbaserver/rbprm/rbprmfullbody.py b/src/hpp/corbaserver/rbprm/rbprmfullbody.py
index fa14396..12e2d50 100755
--- a/src/hpp/corbaserver/rbprm/rbprmfullbody.py
+++ b/src/hpp/corbaserver/rbprm/rbprmfullbody.py
@@ -176,14 +176,17 @@ class FullBody (object):
# This can be problematic in terms of performance. The default value is 3 cm.
# \param contactType whether the contact is punctual ("_3_DOF") or surfacic ("_6_DOF")
# \param disableEffectorCollision: whether collision detection should be disabled for end effector bones
- def addLimb(self, limbId, name, effectorname, offset, normal, x, y, samples, heuristicName, resolution, contactType="_6_DOF",disableEffectorCollision = False, grasp =False,limbOffset=[0,0,0]):
+ # \param kinematicConstraintsPath : path that point to the .obj file containing the kinematic constraints of the limb,
+ # if not set the default is "package://hpp-rbprm-corba/com_inequalities/"+name+"_com_constraints.obj"
+ # \param kinematicConstraintsMin : add an additionnal inequalities on the kinematicConstraints, of normal (0,0,1) and origin (0,0,kinematicConstraintsMin)
+ def addLimb(self, limbId, name, effectorname, offset, normal, x, y, samples, heuristicName, resolution, contactType="_6_DOF",disableEffectorCollision = False, grasp =False,limbOffset=[0,0,0],kinematicConstraintsPath = "", kinematicConstraintsMin = 0.):
boolValEff = 0.
if(disableEffectorCollision):
boolValEff = 1.
graspv = 0.
if(grasp):
graspv = 1.
- self.client.rbprm.rbprm.addLimb(limbId, name, effectorname, offset, normal, x, y, samples, heuristicName, resolution,contactType, boolValEff,graspv,limbOffset)
+ self.client.rbprm.rbprm.addLimb(limbId, name, effectorname, offset, normal, x, y, samples, heuristicName, resolution,contactType, boolValEff,graspv,limbOffset,kinematicConstraintsPath,kinematicConstraintsMin)
self.limbNames += [limbId]
## Returns the configuration of a limb described by a sample
diff --git a/src/rbprmbuilder.impl.cc b/src/rbprmbuilder.impl.cc
index ed17bae..606a81a 100755
--- a/src/rbprmbuilder.impl.cc
+++ b/src/rbprmbuilder.impl.cc
@@ -1139,7 +1139,7 @@ namespace hpp {
}
void RbprmBuilder::addLimb(const char* id, const char* limb, const char* effector, const hpp::floatSeq& offset, const hpp::floatSeq& normal, double x, double y,
- unsigned int samples, const char* heuristicName, double resolution, const char *contactType, double disableEffectorCollision, double grasp, const hpp::floatSeq &limbOffset) throw (hpp::Error)
+ unsigned int samples, const char* heuristicName, double resolution, const char *contactType, double disableEffectorCollision, double grasp, const hpp::floatSeq &limbOffset, const char *kinematicConstraintsPath, double kinematicConstraintsMin) throw (hpp::Error)
{
if(!fullBodyLoaded_)
throw Error ("No full body robot was loaded");
@@ -1159,7 +1159,7 @@ namespace hpp {
cType = hpp::rbprm::_3_DOF;
}
fullBody()->AddLimb(std::string(id), std::string(limb), std::string(effector), off,limbOff, norm, x, y,
- problemSolver()->collisionObstacles(), samples,heuristicName,resolution,cType,disableEffectorCollision > 0.5, grasp > 0.5);
+ problemSolver()->collisionObstacles(), samples,heuristicName,resolution,cType,disableEffectorCollision > 0.5, grasp > 0.5,kinematicConstraintsPath,kinematicConstraintsMin);
}
catch(std::runtime_error& e)
{
diff --git a/src/rbprmbuilder.impl.hh b/src/rbprmbuilder.impl.hh
index 7e0a3ba..c2f9617 100755
--- a/src/rbprmbuilder.impl.hh
+++ b/src/rbprmbuilder.impl.hh
@@ -244,7 +244,7 @@ namespace hpp {
virtual void addLimb(const char* id, const char* limb, const char* effector, const hpp::floatSeq& offset, const hpp::floatSeq& normal, double x, double y,
unsigned int samples, const char *heuristicName, double resolution, const char *contactType,
- double disableEffectorCollision, double grasp,const hpp::floatSeq& limbOffset) throw (hpp::Error);
+ double disableEffectorCollision, double grasp,const hpp::floatSeq& limbOffset,const char* kinematicConstraintsPath, double kinematicConstraintsMin) throw (hpp::Error);
virtual void addNonContactingLimb(const char* id, const char* limb, const char* effector, unsigned int samples) throw (hpp::Error);
virtual void addLimbDatabase(const char* databasePath, const char* id, const char* heuristicName, double loadValues,
--
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