Commit 477c1a14 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

packaging

parent 2674e80b
...@@ -24,9 +24,10 @@ INCLUDE(cmake/base.cmake) ...@@ -24,9 +24,10 @@ INCLUDE(cmake/base.cmake)
INCLUDE(cmake/idl.cmake) INCLUDE(cmake/idl.cmake)
INCLUDE(cmake/python.cmake) INCLUDE(cmake/python.cmake)
SET(PROJECT_ORG humanoid-path-planner)
SET(PROJECT_NAME hpp-rbprm-corba) SET(PROJECT_NAME hpp-rbprm-corba)
SET(PROJECT_DESCRIPTION "Corba server for reachability based planning") 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 # Set to 1 for profiling
#add_definitions(-DPROFILE) #add_definitions(-DPROFILE)
...@@ -45,9 +46,9 @@ IF (HPP_DEBUG) ...@@ -45,9 +46,9 @@ IF (HPP_DEBUG)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DHPP_DEBUG") SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DHPP_DEBUG")
ENDIF() ENDIF()
ADD_DOC_DEPENDENCY("hpp-core >= 4.2") ADD_DOC_DEPENDENCY("hpp-core >= 4.3")
ADD_REQUIRED_DEPENDENCY("hpp-corbaserver >= 4.2") ADD_REQUIRED_DEPENDENCY("hpp-corbaserver >= 4.3")
ADD_REQUIRED_DEPENDENCY("hpp-rbprm") ADD_REQUIRED_DEPENDENCY("hpp-rbprm >= 4.3")
ADD_REQUIRED_DEPENDENCY("omniORB4 >= 4.1.4") ADD_REQUIRED_DEPENDENCY("omniORB4 >= 4.1.4")
ADD_REQUIRED_DEPENDENCY("hpp-affordance-corba") ADD_REQUIRED_DEPENDENCY("hpp-affordance-corba")
ADD_REQUIRED_DEPENDENCY("hpp-util >= 3") ADD_REQUIRED_DEPENDENCY("hpp-util >= 3")
...@@ -101,6 +102,5 @@ install(DIRECTORY ...@@ -101,6 +102,5 @@ install(DIRECTORY
#~ install(DIRECTORY data/hyq_description #~ install(DIRECTORY data/hyq_description
#~ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/../ #~ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/../
#~ ) #~ )
SETUP_PROJECT_FINALIZE()
SETUP_PROJECT_FINALIZE()
...@@ -43,8 +43,8 @@ ...@@ -43,8 +43,8 @@
#include <hpp/rbprm/planner/rbprm-steering-kinodynamic.hh> #include <hpp/rbprm/planner/rbprm-steering-kinodynamic.hh>
#include <algorithm> // std::random_shuffle #include <algorithm> // std::random_shuffle
#include <hpp/rbprm/interpolation/time-constraint-helper.hh> #include <hpp/rbprm/interpolation/time-constraint-helper.hh>
#include "spline/bezier_curve.h" #include <hpp/spline/bezier_curve.h>
#include "hpp/rbprm/interpolation/polynom-trajectory.hh" #include <hpp/rbprm/interpolation/polynom-trajectory.hh>
#include <hpp/rbprm/planner/random-shortcut-dynamic.hh> #include <hpp/rbprm/planner/random-shortcut-dynamic.hh>
#include <hpp/rbprm/planner/oriented-path-optimizer.hh> #include <hpp/rbprm/planner/oriented-path-optimizer.hh>
#include <hpp/rbprm/sampling/heuristic-tools.hh> #include <hpp/rbprm/sampling/heuristic-tools.hh>
...@@ -1256,7 +1256,7 @@ namespace hpp { ...@@ -1256,7 +1256,7 @@ namespace hpp {
state.contactNormals_[*cit] = z; state.contactNormals_[*cit] = z;
state.contacts_[*cit] = true; state.contacts_[*cit] = true;
state.contactOrder_.push(*cit); state.contactOrder_.push(*cit);
} }
state.nbContacts = state.contactNormals_.size() ; state.nbContacts = state.contactNormals_.size() ;
state.configuration_ = config; state.configuration_ = config;
state.robustness = stability::IsStable(fullBody,state); state.robustness = stability::IsStable(fullBody,state);
...@@ -2149,7 +2149,7 @@ namespace hpp { ...@@ -2149,7 +2149,7 @@ namespace hpp {
throw hpp::Error ("No affordances found. Unable to interpolate."); 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); rbprm::interpolation::RbPrmInterpolation::create(fullBody(),startState_,endState_,problemSolver()->paths()[pathId],testReachability,quasiStatic);
lastStatesComputedTime_ = interpolator->Interpolate(affMap, bindShooter_.affFilter_, lastStatesComputedTime_ = interpolator->Interpolate(affMap, bindShooter_.affFilter_,
timestep,robustnessTreshold, filterStates != 0); timestep,robustnessTreshold, filterStates != 0);
...@@ -2251,7 +2251,7 @@ namespace hpp { ...@@ -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) CORBA::Short RbprmBuilder::comRRT(unsigned short s1, unsigned short s2, unsigned short path, unsigned short numOptimizations) throw (hpp::Error)
{ {
try try
{ {
// temp // temp
assert(s2 == s1 +1); assert(s2 == s1 +1);
if(lastStatesComputed_.size () < s1 || lastStatesComputed_.size () < s2 ) if(lastStatesComputed_.size () < s1 || lastStatesComputed_.size () < s2 )
...@@ -2351,7 +2351,7 @@ namespace hpp { ...@@ -2351,7 +2351,7 @@ namespace hpp {
core::PathVectorPtr_t resPath = core::PathVector::create(fullBody()->device_->configSize(), fullBody()->device_->numberDof()); core::PathVectorPtr_t resPath = core::PathVector::create(fullBody()->device_->configSize(), fullBody()->device_->numberDof());
hppDout(notice,"ComRRT : projections done. begin rrt"); hppDout(notice,"ComRRT : projections done. begin rrt");
try{ 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 = r(["<<pinocchio::displayConfig(state1.configuration_)<<"])");
hppDout(notice,"state1 bis = r(["<<pinocchio::displayConfig(s1Bis.configuration_)<<"])"); hppDout(notice,"state1 bis = r(["<<pinocchio::displayConfig(s1Bis.configuration_)<<"])");
core::PathPtr_t p1 = interpolation::comRRT(fullBody(),problemSolver()->problem(), paths[cT1], core::PathPtr_t p1 = interpolation::comRRT(fullBody(),problemSolver()->problem(), paths[cT1],
......
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