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Jason Chemin
hpp-rbprm-corba
Commits
477c1a14
Commit
477c1a14
authored
Jan 30, 2019
by
Guilhem Saurel
Browse files
packaging
parent
2674e80b
Changes
2
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Inline
Side-by-side
CMakeLists.txt
View file @
477c1a14
...
...
@@ -24,9 +24,10 @@ INCLUDE(cmake/base.cmake)
INCLUDE
(
cmake/idl.cmake
)
INCLUDE
(
cmake/python.cmake
)
SET
(
PROJECT_ORG humanoid-path-planner
)
SET
(
PROJECT_NAME hpp-rbprm-corba
)
SET
(
PROJECT_DESCRIPTION
"Corba server for reachability based planning"
)
SET
(
PROJECT_URL
""
)
SET
(
PROJECT_URL
"
https://github.com/
${
PROJECT_ORG
}
/
${
PROJECT_NAME
}
"
)
# Set to 1 for profiling
#add_definitions(-DPROFILE)
...
...
@@ -45,9 +46,9 @@ IF (HPP_DEBUG)
SET
(
CMAKE_CXX_FLAGS
"
${
CMAKE_CXX_FLAGS
}
-DHPP_DEBUG"
)
ENDIF
()
ADD_DOC_DEPENDENCY
(
"hpp-core >= 4.
2
"
)
ADD_REQUIRED_DEPENDENCY
(
"hpp-corbaserver >= 4.
2
"
)
ADD_REQUIRED_DEPENDENCY
(
"hpp-rbprm"
)
ADD_DOC_DEPENDENCY
(
"hpp-core >= 4.
3
"
)
ADD_REQUIRED_DEPENDENCY
(
"hpp-corbaserver >= 4.
3
"
)
ADD_REQUIRED_DEPENDENCY
(
"hpp-rbprm
>= 4.3
"
)
ADD_REQUIRED_DEPENDENCY
(
"omniORB4 >= 4.1.4"
)
ADD_REQUIRED_DEPENDENCY
(
"hpp-affordance-corba"
)
ADD_REQUIRED_DEPENDENCY
(
"hpp-util >= 3"
)
...
...
@@ -101,6 +102,5 @@ install(DIRECTORY
#~ install(DIRECTORY data/hyq_description
#~ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/../
#~ )
SETUP_PROJECT_FINALIZE
()
SETUP_PROJECT_FINALIZE
()
src/rbprmbuilder.impl.cc
View file @
477c1a14
...
...
@@ -43,8 +43,8 @@
#include
<hpp/rbprm/planner/rbprm-steering-kinodynamic.hh>
#include
<algorithm>
// std::random_shuffle
#include
<hpp/rbprm/interpolation/time-constraint-helper.hh>
#include
"
spline/bezier_curve.h
"
#include
"
hpp/rbprm/interpolation/polynom-trajectory.hh
"
#include
<hpp/
spline/bezier_curve.h
>
#include
<
hpp/rbprm/interpolation/polynom-trajectory.hh
>
#include
<hpp/rbprm/planner/random-shortcut-dynamic.hh>
#include
<hpp/rbprm/planner/oriented-path-optimizer.hh>
#include
<hpp/rbprm/sampling/heuristic-tools.hh>
...
...
@@ -1256,7 +1256,7 @@ namespace hpp {
state
.
contactNormals_
[
*
cit
]
=
z
;
state
.
contacts_
[
*
cit
]
=
true
;
state
.
contactOrder_
.
push
(
*
cit
);
}
}
state
.
nbContacts
=
state
.
contactNormals_
.
size
()
;
state
.
configuration_
=
config
;
state
.
robustness
=
stability
::
IsStable
(
fullBody
,
state
);
...
...
@@ -2149,7 +2149,7 @@ namespace hpp {
throw
hpp
::
Error
(
"No affordances found. Unable to interpolate."
);
}
hpp
::
rbprm
::
interpolation
::
RbPrmInterpolationPtr_t
interpolator
=
hpp
::
rbprm
::
interpolation
::
RbPrmInterpolationPtr_t
interpolator
=
rbprm
::
interpolation
::
RbPrmInterpolation
::
create
(
fullBody
(),
startState_
,
endState_
,
problemSolver
()
->
paths
()[
pathId
],
testReachability
,
quasiStatic
);
lastStatesComputedTime_
=
interpolator
->
Interpolate
(
affMap
,
bindShooter_
.
affFilter_
,
timestep
,
robustnessTreshold
,
filterStates
!=
0
);
...
...
@@ -2251,7 +2251,7 @@ namespace hpp {
CORBA
::
Short
RbprmBuilder
::
comRRT
(
unsigned
short
s1
,
unsigned
short
s2
,
unsigned
short
path
,
unsigned
short
numOptimizations
)
throw
(
hpp
::
Error
)
{
try
{
{
// temp
assert
(
s2
==
s1
+
1
);
if
(
lastStatesComputed_
.
size
()
<
s1
||
lastStatesComputed_
.
size
()
<
s2
)
...
...
@@ -2351,7 +2351,7 @@ namespace hpp {
core
::
PathVectorPtr_t
resPath
=
core
::
PathVector
::
create
(
fullBody
()
->
device_
->
configSize
(),
fullBody
()
->
device_
->
numberDof
());
hppDout
(
notice
,
"ComRRT : projections done. begin rrt"
);
try
{
hppDout
(
notice
,
"begin comRRT states 1 and 1bis"
);
hppDout
(
notice
,
"begin comRRT states 1 and 1bis"
);
hppDout
(
notice
,
"state1 = r(["
<<
pinocchio
::
displayConfig
(
state1
.
configuration_
)
<<
"])"
);
hppDout
(
notice
,
"state1 bis = r(["
<<
pinocchio
::
displayConfig
(
s1Bis
.
configuration_
)
<<
"])"
);
core
::
PathPtr_t
p1
=
interpolation
::
comRRT
(
fullBody
(),
problemSolver
()
->
problem
(),
paths
[
cT1
],
...
...
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