diff --git a/CMakeLists.txt b/CMakeLists.txt
index ae409074be1203b79eb7b8a4aaf37529840210f4..1119fd11ed792a544b9eb9495d72decbefe9a027 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -76,7 +76,7 @@ install(FILES
data/urdf/stair_bauzil.urdf
data/urdf/climb.urdf
data/urdf/stepladder.urdf
- data/urdf/chair.urdf
+ data/urdf/ground.urdf
#~ data/urdf/scene2.urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf
)
@@ -96,7 +96,7 @@ install(FILES
data/srdf/stair_bauzil.srdf
data/srdf/climb.srdf
data/srdf/stepladder.srdf
- data/srdf/chair.srdf
+ data/srdf/ground.srdf
#~ data/srdf/scene2.srdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/srdf
)
@@ -111,6 +111,7 @@ install(FILES
data/meshes/hrp2_rarm_rom.stl
data/meshes/hrp2_lleg_rom.stl
data/meshes/hrp2_rleg_rom.stl
+ data/meshes/ground.stl
data/meshes/box.stl
data/meshes/box_rom.stl
data/meshes/robot_box.stl
diff --git a/CMakeLists.txt.user b/CMakeLists.txt.user
deleted file mode 100644
index 8588aa6610efaa58af71f8ae3a703333be47eec6..0000000000000000000000000000000000000000
--- a/CMakeLists.txt.user
+++ /dev/null
@@ -1,203 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!DOCTYPE QtCreatorProject>
-<!-- Written by Qt Creator 2.4.1, 2015-09-30T16:25:32. -->
-<qtcreator>
- <data>
- <variable>ProjectExplorer.Project.ActiveTarget</variable>
- <value type="int">0</value>
- </data>
- <data>
- <variable>ProjectExplorer.Project.EditorSettings</variable>
- <valuemap type="QVariantMap">
- <value type="bool" key="EditorConfiguration.AutoIndent">true</value>
- <value type="bool" key="EditorConfiguration.AutoSpacesForTabs">false</value>
- <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
- <value type="QString" key="language">Cpp</value>
- <valuemap type="QVariantMap" key="value">
- <value type="QString" key="CurrentPreferences">CppGlobal</value>
- </valuemap>
- </valuemap>
- <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.1">
- <value type="QString" key="language">QmlJS</value>
- <valuemap type="QVariantMap" key="value">
- <value type="QString" key="CurrentPreferences">QmlJSGlobal</value>
- </valuemap>
- </valuemap>
- <value type="int" key="EditorConfiguration.CodeStyle.Count">2</value>
- <value type="QByteArray" key="EditorConfiguration.Codec">System</value>
- <value type="bool" key="EditorConfiguration.ConstrainTooltips">false</value>
- <value type="int" key="EditorConfiguration.IndentSize">4</value>
- <value type="bool" key="EditorConfiguration.MouseNavigation">true</value>
- <value type="int" key="EditorConfiguration.PaddingMode">1</value>
- <value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value>
- <value type="int" key="EditorConfiguration.SmartBackspaceBehavior">0</value>
- <value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
- <value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
- <value type="int" key="EditorConfiguration.TabSize">8</value>
- <value type="bool" key="EditorConfiguration.UseGlobal">true</value>
- <value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value>
- <value type="bool" key="EditorConfiguration.addFinalNewLine">true</value>
- <value type="bool" key="EditorConfiguration.cleanIndentation">true</value>
- <value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
- <value type="bool" key="EditorConfiguration.inEntireDocument">false</value>
- </valuemap>
- </data>
- <data>
- <variable>ProjectExplorer.Project.PluginSettings</variable>
- <valuemap type="QVariantMap"/>
- </data>
- <data>
- <variable>ProjectExplorer.Project.Target.0</variable>
- <valuemap type="QVariantMap">
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">CMakeProjectManager.DefaultCMakeTarget</value>
- <value type="int" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
- <value type="int" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
- <value type="int" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
- <valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0">
- <value type="QString" key="CMakeProjectManager.CMakeBuildConfiguration.BuildDirectory">/home/stonneau/dev/hpp/src/hpp-rbprm-corba/build</value>
- <value type="QString" key="CMakeProjectManager.CMakeBuildConfiguration.ToolChain">ProjectExplorer.ToolChain.Gcc:/usr/bin/g++.x86-linux-generic-elf-64bit./usr/bin/gdb</value>
- <value type="QString" key="ProjectExplorer.BuildCOnfiguration.ToolChain">ProjectExplorer.ToolChain.Gcc:/usr/bin/g++.x86-linux-generic-elf-64bit./usr/bin/gdb</value>
- <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
- <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
- <value type="QString" key="CMakeProjectManager.MakeStep.AdditionalArguments"></value>
- <valuelist type="QVariantList" key="CMakeProjectManager.MakeStep.BuildTargets"/>
- <value type="bool" key="CMakeProjectManager.MakeStep.Clean">false</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Make</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">CMakeProjectManager.MakeStep</value>
- </valuemap>
- <value type="int" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Compiler</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Build</value>
- </valuemap>
- <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.1">
- <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
- <value type="QString" key="CMakeProjectManager.MakeStep.AdditionalArguments">clean</value>
- <valuelist type="QVariantList" key="CMakeProjectManager.MakeStep.BuildTargets"/>
- <value type="bool" key="CMakeProjectManager.MakeStep.Clean">true</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Make</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">CMakeProjectManager.MakeStep</value>
- </valuemap>
- <value type="int" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Nettoyer</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
- </valuemap>
- <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">2</value>
- <value type="bool" key="ProjectExplorer.BuildConfiguration.ClearSystemEnvironment">false</value>
- <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">all</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">CMakeProjectManager.CMakeBuildConfiguration</value>
- </valuemap>
- <value type="int" key="ProjectExplorer.Target.BuildConfigurationCount">1</value>
- <valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
- <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
- <value type="int" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Déploiement</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
- </valuemap>
- <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Pas de déploiement</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
- </valuemap>
- <value type="int" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
- <valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
- <value type="bool" key="Analyzer.Project.UseGlobal">true</value>
- <value type="bool" key="Analyzer.Project.UseGlobal">true</value>
- <valuelist type="QVariantList" key="Analyzer.Valgrind.AddedSuppressionFiles"/>
- <valuelist type="QVariantList" key="Analyzer.Valgrind.AddedSuppressionFiles"/>
- <value type="bool" key="Analyzer.Valgrind.Callgrind.CollectBusEvents">false</value>
- <value type="bool" key="Analyzer.Valgrind.Callgrind.CollectBusEvents">false</value>
- <value type="bool" key="Analyzer.Valgrind.Callgrind.CollectSystime">false</value>
- <value type="bool" key="Analyzer.Valgrind.Callgrind.CollectSystime">false</value>
- <value type="bool" key="Analyzer.Valgrind.Callgrind.EnableBranchSim">false</value>
- <value type="bool" key="Analyzer.Valgrind.Callgrind.EnableBranchSim">false</value>
- <value type="bool" key="Analyzer.Valgrind.Callgrind.EnableCacheSim">false</value>
- <value type="bool" key="Analyzer.Valgrind.Callgrind.EnableCacheSim">false</value>
- <value type="bool" key="Analyzer.Valgrind.Callgrind.EnableEventToolTips">true</value>
- <value type="bool" key="Analyzer.Valgrind.Callgrind.EnableEventToolTips">true</value>
- <value type="double" key="Analyzer.Valgrind.Callgrind.MinimumCostRatio">0.01</value>
- <value type="double" key="Analyzer.Valgrind.Callgrind.MinimumCostRatio">0.01</value>
- <value type="double" key="Analyzer.Valgrind.Callgrind.VisualisationMinimumCostRatio">10</value>
- <value type="double" key="Analyzer.Valgrind.Callgrind.VisualisationMinimumCostRatio">10</value>
- <value type="bool" key="Analyzer.Valgrind.FilterExternalIssues">true</value>
- <value type="bool" key="Analyzer.Valgrind.FilterExternalIssues">true</value>
- <value type="int" key="Analyzer.Valgrind.NumCallers">25</value>
- <value type="int" key="Analyzer.Valgrind.NumCallers">25</value>
- <valuelist type="QVariantList" key="Analyzer.Valgrind.RemovedSuppressionFiles"/>
- <valuelist type="QVariantList" key="Analyzer.Valgrind.RemovedSuppressionFiles"/>
- <value type="bool" key="Analyzer.Valgrind.TrackOrigins">true</value>
- <value type="bool" key="Analyzer.Valgrind.TrackOrigins">true</value>
- <value type="QString" key="Analyzer.Valgrind.ValgrindExecutable">valgrind</value>
- <value type="QString" key="Analyzer.Valgrind.ValgrindExecutable">valgrind</value>
- <valuelist type="QVariantList" key="Analyzer.Valgrind.VisibleErrorKinds">
- <value type="int">0</value>
- <value type="int">1</value>
- <value type="int">2</value>
- <value type="int">3</value>
- <value type="int">4</value>
- <value type="int">5</value>
- <value type="int">6</value>
- <value type="int">7</value>
- <value type="int">8</value>
- <value type="int">9</value>
- <value type="int">10</value>
- <value type="int">11</value>
- <value type="int">12</value>
- <value type="int">13</value>
- <value type="int">14</value>
- </valuelist>
- <valuelist type="QVariantList" key="Analyzer.Valgrind.VisibleErrorKinds">
- <value type="int">0</value>
- <value type="int">1</value>
- <value type="int">2</value>
- <value type="int">3</value>
- <value type="int">4</value>
- <value type="int">5</value>
- <value type="int">6</value>
- <value type="int">7</value>
- <value type="int">8</value>
- <value type="int">9</value>
- <value type="int">10</value>
- <value type="int">11</value>
- <value type="int">12</value>
- <value type="int">13</value>
- <value type="int">14</value>
- </valuelist>
- <value type="int" key="CMakeProjectManager.BaseEnvironmentBase">2</value>
- <value type="QString" key="CMakeProjectManager.CMakeRunConfiguation.Title">hpp-rbprm-server</value>
- <value type="QString" key="CMakeProjectManager.CMakeRunConfiguration.Arguments"></value>
- <value type="bool" key="CMakeProjectManager.CMakeRunConfiguration.UseTerminal">false</value>
- <valuelist type="QVariantList" key="CMakeProjectManager.CMakeRunConfiguration.UserEnvironmentChanges"/>
- <value type="QString" key="CMakeProjectManager.CMakeRunConfiguration.UserWorkingDirectory"></value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">hpp-rbprm-server</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">CMakeProjectManager.CMakeRunConfiguration.</value>
- <value type="uint" key="RunConfiguration.QmlDebugServerPort">3768</value>
- <value type="bool" key="RunConfiguration.UseCppDebugger">true</value>
- <value type="bool" key="RunConfiguration.UseQmlDebugger">false</value>
- <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">false</value>
- </valuemap>
- <value type="int" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
- </valuemap>
- </data>
- <data>
- <variable>ProjectExplorer.Project.TargetCount</variable>
- <value type="int">1</value>
- </data>
- <data>
- <variable>ProjectExplorer.Project.Updater.EnvironmentId</variable>
- <value type="QString">{f576b177-22b8-4dfc-bc92-d574cc02a2fe}</value>
- </data>
- <data>
- <variable>ProjectExplorer.Project.Updater.FileVersion</variable>
- <value type="int">10</value>
- </data>
-</qtcreator>
diff --git a/data/meshes/ground.stl b/data/meshes/ground.stl
index fdebef967d67c5116bf8b1cd9e656cb2f796aedb..628e4787c07dea1b1fac08d571c2c6b4d3dfe153 100755
Binary files a/data/meshes/ground.stl and b/data/meshes/ground.stl differ
diff --git a/data/srdf/chair.srdf b/data/srdf/ground.srdf
similarity index 100%
rename from data/srdf/chair.srdf
rename to data/srdf/ground.srdf
diff --git a/data/urdf/chair.urdf b/data/urdf/ground.urdf
similarity index 71%
rename from data/urdf/chair.urdf
rename to data/urdf/ground.urdf
index 7693af984ff960852ceeae50923636a5e20af96d..d6b5ee22865a1bdece5ee6053153e4899b4e10ab 100644
--- a/data/urdf/chair.urdf
+++ b/data/urdf/ground.urdf
@@ -3,7 +3,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package:///../hpp-rbprm-corba/meshes/chair.stl"/>
+ <mesh filename="package:///../hpp-rbprm-corba/meshes/ground.stl"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
@@ -12,7 +12,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/chair.stl"/>
+ <mesh filename="package://hpp-rbprm-corba/meshes/ground.stl"/>
</geometry>
</collision>
</link>
diff --git a/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl b/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
index 4993973734ad6104cf9e876845f3085aabc082ae..d8ea4e3857495e4af853d3a0eb94bef6d940c51d 100755
--- a/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
+++ b/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
@@ -146,9 +146,10 @@ module hpp
/// \param x width of the rectangle surface contact of the effector
/// \param y length of the rectangle surface contact of the effector
/// \param samples number of samples to generate for the limb (a typical value is 10000)
+ /// \param heuristicName heuristic used to bias sample selection
/// \param resolution resolution of the octree used to store the samples (a typical value is 0.01 meters)
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 short samples, in double resolution) raises (Error);
+ in double x, in double y, in unsigned short samples, in string heuristicName, in double resolution) raises (Error);
/// Set the start state of a contact generation problem
/// environment, ordered by their efficiency
diff --git a/script/scenarios/stair_bauzil_hrp2_interp.py b/script/scenarios/stair_bauzil_hrp2_interp.py
index 6550309c4f981fa87b6aa4ebc8b609b2c7450770..316cb5b929b1da612ffaa8f7dff425e74fbd05c9 100644
--- a/script/scenarios/stair_bauzil_hrp2_interp.py
+++ b/script/scenarios/stair_bauzil_hrp2_interp.py
@@ -31,14 +31,14 @@ rLeg = 'RLEG_JOINT0'
rLegOffset = [0,-0.105,0,]
rLegNormal = [0,1,0]
rLegx = 0.09; rLegy = 0.05
-fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 20000, 0.01)
+fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 20000, "EFORT", 0.01)
lLegId = '1lLeg'
lLeg = 'LLEG_JOINT0'
lLegOffset = [0,-0.105,0]
lLegNormal = [0,1,0]
lLegx = 0.09; lLegy = 0.05
-fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 10000, 0.01)
+fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 10000, "EFORT", 0.01)
rarmId = '3Rarm'
rarm = 'RARM_JOINT0'
@@ -46,7 +46,7 @@ rHand = 'RARM_JOINT5'
rArmOffset = [0,0,-0.1]
rArmNormal = [0,0,1]
rArmx = 0.024; rArmy = 0.024
-fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 30000, 0.05)
+fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 30000, "EFORT", 0.05)
#~ AFTER loading obstacles
diff --git a/script/scenarios/standing_hrp2_interp.py b/script/scenarios/standing_hrp2_interp.py
index 3986f90b824b8ec52e0111be6189b0a698f20c20..796b63656092ad000f79e0eee53ff67e22c014a2 100644
--- a/script/scenarios/standing_hrp2_interp.py
+++ b/script/scenarios/standing_hrp2_interp.py
@@ -31,14 +31,14 @@ rLeg = 'RLEG_JOINT0'
rLegOffset = [0,-0.105,0,]
rLegNormal = [0,1,0]
rLegx = 0.09; rLegy = 0.05
-fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 10000, 0.1)
+fullBody.addLimb(rLegId,rLeg,'',rLegOffset,rLegNormal, rLegx, rLegy, 10000, "EFORT", 0.1)
lLegId = '1lLeg'
lLeg = 'LLEG_JOINT0'
lLegOffset = [0,-0.105,0]
lLegNormal = [0,1,0]
lLegx = 0.09; lLegy = 0.05
-fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 10000, 0.1)
+fullBody.addLimb(lLegId,lLeg,'',lLegOffset,rLegNormal, lLegx, lLegy, 10000, "EFORT", 0.1)
rarmId = '3Rarm'
rarm = 'RARM_JOINT0'
@@ -46,17 +46,15 @@ rHand = 'RARM_JOINT5'
rArmOffset = [-0.05,-0.050,-0.050]
rArmNormal = [1,0,0]
rArmx = 0.024; rArmy = 0.024
-fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 10000, 0.01)
+fullBody.addLimb(rarmId,rarm,rHand,rArmOffset,rArmNormal, rArmx, rArmy, 10000, "EFORT", 0.01)
-
-#~ AFTER loading obstacles
larmId = '4Larm'
larm = 'LARM_JOINT0'
lHand = 'LARM_JOINT5'
lArmOffset = [-0.05,-0.050,-0.050]
lArmNormal = [1,0,0]
lArmx = 0.024; lArmy = 0.024
-fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, 10000, 0.01)
+fullBody.addLimb(larmId,larm,lHand,lArmOffset,lArmNormal, lArmx, lArmy, 10000, "EFORT", 0.01)
rKneeId = '0RKnee'
rLeg = 'RLEG_JOINT0'
diff --git a/src/hpp/corbaserver/rbprm/rbprmfullbody.py b/src/hpp/corbaserver/rbprm/rbprmfullbody.py
index d19d0789ee0ede92b545063c2b865b2f588a8cff..bfd623da0cbeb8bdcf36da54f9422ad34383ccb9 100755
--- a/src/hpp/corbaserver/rbprm/rbprmfullbody.py
+++ b/src/hpp/corbaserver/rbprm/rbprmfullbody.py
@@ -89,8 +89,27 @@ class FullBody (object):
# structure to perform efficient proximity requests. The resulution of the octree, in meters, specifies the size
# of the unit voxel of the octree. The larger they are, the more samples will be considered as candidates for contact.
# This can be problematic in terms of performance. The default value is 3 cm.
- def addLimb(self, limbId, name, effectorname, offset, normal, x, y, samples, resolution):
- self.client.rbprm.rbprm.addLimb(limbId, name, effectorname, offset, normal, x, y, samples, resolution)
+ def addLimb(self, limbId, name, effectorname, offset, normal, x, y, samples):
+ self.client.rbprm.rbprm.addLimb(limbId, name, effectorname, offset, normal, x, y, samples, "EFORT", 0.03)
+
+ ## Add a limb to the model
+ #
+ # \param id: user defined id for the limb. Must be unique.
+ # The id is used if several contact points are defined for the same limb (ex: the knee and the foot)
+ # \param name: name of the joint corresponding to the root of the limb.
+ # \param effectorName name of the joint to be considered as the effector of the limb
+ # \param offset position of the effector in joint coordinates relatively to the effector joint
+ # \param unit normal vector of the contact point, expressed in the effector joint coordinates
+ # \param x width of the default support polygon of the effector
+ # \param y height of the default support polygon of the effector
+ # \param collisionObjects objects to be considered for collisions with the limb. TODO remove
+ # \param nbSamples number of samples to generate for the limb
+ # \param resolution, resolution of the octree voxels. The samples generated are stored in an octree data
+ # structure to perform efficient proximity requests. The resulution of the octree, in meters, specifies the size
+ # of the unit voxel of the octree. The larger they are, the more samples will be considered as candidates for contact.
+ # This can be problematic in terms of performance. The default value is 3 cm.
+ def addLimb(self, limbId, name, effectorname, offset, normal, x, y, samples, heuristicName, resolution):
+ self.client.rbprm.rbprm.addLimb(limbId, name, effectorname, offset, normal, x, y, samples, heuristicName, resolution)
## Returns the configuration of a limb described by a sample
#
diff --git a/src/rbprmbuilder.impl.cc b/src/rbprmbuilder.impl.cc
index 7b68d828a4c65ee9e19a7ddd4e6b0c9b5c7c3078..dc40646b30617dc8f64a057c630697f20a177e9a 100755
--- a/src/rbprmbuilder.impl.cc
+++ b/src/rbprmbuilder.impl.cc
@@ -318,7 +318,8 @@ 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 short samples, double resolution) throw (hpp::Error)
+ 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 short samples, const char* heuristicName, double resolution) throw (hpp::Error)
{
if(!fullBodyLoaded_)
throw Error ("No full body robot was loaded");
@@ -330,7 +331,7 @@ namespace hpp {
off[i] = offset[i];
norm[i] = normal[i];
}
- fullBody_->AddLimb(std::string(id), std::string(limb), std::string(effector), off, norm, x, y, problemSolver_->collisionObstacles(), samples,resolution);
+ fullBody_->AddLimb(std::string(id), std::string(limb), std::string(effector), off, norm, x, y, problemSolver_->collisionObstacles(), samples,heuristicName,resolution);
}
catch(std::runtime_error& e)
{
diff --git a/src/rbprmbuilder.impl.hh b/src/rbprmbuilder.impl.hh
index 22358db55d7fb2c9bf5261a23e0698cb856eb4f9..b1e707220299cf3fd6b56d5fd13b9dd60dd1468e 100755
--- a/src/rbprmbuilder.impl.hh
+++ b/src/rbprmbuilder.impl.hh
@@ -103,7 +103,8 @@ namespace hpp {
const hpp::floatSeq& configuration,
const hpp::floatSeq& direction) throw (hpp::Error);
- 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 short samples, double resolution) throw (hpp::Error);
+ 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 short samples, const char *heuristicName, double resolution) throw (hpp::Error);
virtual void setStartState(const hpp::floatSeq& configuration, const hpp::Names_t& contactLimbs) throw (hpp::Error);
virtual void setEndState(const hpp::floatSeq& configuration, const hpp::Names_t& contactLimbs) throw (hpp::Error);