Commit 5d5af2e9 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[test transition] update API to use the continuous formulation

parent d55be67b
......@@ -772,7 +772,7 @@ module hpp
boolean isReachableFromState(in unsigned short stateFrom, in unsigned short stateTo)raises (Error);
floatSeq isDynamicallyReachableFromState(in unsigned short stateFrom, in unsigned short stateTo,in boolean addPathPerPhase, in floatSeq timings,in unsigned short numPointsPerPhase)raises (Error);
floatSeq isDynamicallyReachableFromState(in unsigned short stateFrom, in unsigned short stateTo,in boolean addPathPerPhase, in floatSeq timings,in short numPointsPerPhase)raises (Error);
}; // interface Robot
......
......@@ -1158,6 +1158,6 @@ class FullBody (object):
def isReachableFromState(self,stateFrom,stateTo):
return self.client.rbprm.rbprm.isReachableFromState(stateFrom,stateTo)
def isDynamicallyReachableFromState(self,stateFrom,stateTo,addPathPerPhase = False,timings=[],numPointsPerPhases=3):
def isDynamicallyReachableFromState(self,stateFrom,stateTo,addPathPerPhase = False,timings=[],numPointsPerPhases=5):
return self.client.rbprm.rbprm.isDynamicallyReachableFromState(stateFrom,stateTo,addPathPerPhase,timings,numPointsPerPhases)
......@@ -3363,7 +3363,7 @@ assert(s2 == s1 +1);
hpp::floatSeq* RbprmBuilder::isDynamicallyReachableFromState(unsigned short stateFrom, unsigned short stateTo,bool addPathPerPhase, const hpp::floatSeq &timings, unsigned short numPointPerPhase )throw (hpp::Error){
hpp::floatSeq* RbprmBuilder::isDynamicallyReachableFromState(unsigned short stateFrom, unsigned short stateTo,bool addPathPerPhase, const hpp::floatSeq &timings, short numPointPerPhase )throw (hpp::Error){
if(!fullBodyLoaded_){
throw std::runtime_error ("fullBody not loaded");
}
......@@ -3379,7 +3379,7 @@ assert(s2 == s1 +1);
Ts.push_back(t_config[i]);
res = reachability::isReachableDynamic(fullBody(),lastStatesComputed_[stateFrom],lastStatesComputed_[stateTo],false,Ts,numPointPerPhase);
}else{
res = reachability::isReachableDynamic(fullBody(),lastStatesComputed_[stateFrom],lastStatesComputed_[stateTo],false);
res = reachability::isReachableDynamic(fullBody(),lastStatesComputed_[stateFrom],lastStatesComputed_[stateTo],false,std::vector<double>(),numPointPerPhase);
}
if (res.success()){
std::vector<int> ids;
......
......@@ -367,7 +367,7 @@ namespace hpp {
virtual bool areKinematicsConstraintsVerified(const hpp::floatSeq &point)throw (hpp::Error);
virtual bool areKinematicsConstraintsVerifiedForState(unsigned short stateId,const hpp::floatSeq &point)throw (hpp::Error);
virtual bool isReachableFromState(unsigned short stateFrom,unsigned short stateTo)throw (hpp::Error);
virtual hpp::floatSeq* isDynamicallyReachableFromState(unsigned short stateFrom, unsigned short stateTo, bool addPathPerPhase, const hpp::floatSeq &timings, unsigned short numPointPerPhase )throw (hpp::Error);
virtual hpp::floatSeq* isDynamicallyReachableFromState(unsigned short stateFrom, unsigned short stateTo, bool addPathPerPhase, const hpp::floatSeq &timings, short numPointPerPhase )throw (hpp::Error);
void selectFullBody (const char* name) throw (hpp::Error)
......
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