From 718ebda80e4a98d0f2e38b1560440ecb8b88828b Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@laas.fr>
Date: Wed, 8 Feb 2017 18:28:07 +0100
Subject: [PATCH] add optionnal parameter to generateContacts :
robustnessThreshold
---
idl/hpp/corbaserver/rbprm/rbprmbuilder.idl | 2 +-
src/hpp/corbaserver/rbprm/rbprmfullbody.py | 6 +++---
src/rbprmbuilder.impl.cc | 4 ++--
src/rbprmbuilder.impl.hh | 2 +-
4 files changed, 7 insertions(+), 7 deletions(-)
diff --git a/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl b/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
index a14fb35..cadf322 100755
--- a/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
+++ b/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
@@ -185,7 +185,7 @@ module hpp
/// \param dofArray initial configuration of the robot
/// \param direction desired direction of motion for the robot
/// \return transformed configuration for which all possible contacts have been created
- floatSeq generateContacts(in floatSeq dofArray, in floatSeq direction, in floatSeq acceleration) raises (Error);
+ floatSeq generateContacts(in floatSeq dofArray, in floatSeq direction, in floatSeq acceleration, in double robustnessThreshold) raises (Error);
/// Generate an autocollision free configuration with limbs in contact with the ground
/// \param contactLimbs name of the limbs to project in contact
diff --git a/src/hpp/corbaserver/rbprm/rbprmfullbody.py b/src/hpp/corbaserver/rbprm/rbprmfullbody.py
index 64ba916..f250dc2 100755
--- a/src/hpp/corbaserver/rbprm/rbprmfullbody.py
+++ b/src/hpp/corbaserver/rbprm/rbprmfullbody.py
@@ -198,11 +198,11 @@ class FullBody (object):
## Generates a balanced contact configuration, considering the
# given current configuration of the robot, and a direction of motion.
# Typically used to generate a start and / or goal configuration automatically for a planning problem.
- #
+ #
# \param configuration the initial robot configuration
# \param direction a 3d vector specifying the desired direction of motion
- def generateContacts(self, configuration, direction,acceleration = [0,0,0]):
- return self.client.rbprm.rbprm.generateContacts(configuration, direction, acceleration)
+ def generateContacts(self, configuration, direction,acceleration = [0,0,0], robustnessThreshold = 0):
+ return self.client.rbprm.rbprm.generateContacts(configuration, direction, acceleration, robustnessThreshold)
## Generate an autocollision free configuration with limbs in contact with the ground
# \param contactLimbs name of the limbs to project in contact
diff --git a/src/rbprmbuilder.impl.cc b/src/rbprmbuilder.impl.cc
index 5a3ba5b..4c5cb21 100755
--- a/src/rbprmbuilder.impl.cc
+++ b/src/rbprmbuilder.impl.cc
@@ -655,7 +655,7 @@ namespace hpp {
}
hpp::floatSeq* RbprmBuilder::generateContacts(const hpp::floatSeq& configuration,
- const hpp::floatSeq& direction,const hpp::floatSeq& acceleration) throw (hpp::Error)
+ const hpp::floatSeq& direction,const hpp::floatSeq& acceleration, const double robustnessThreshold ) throw (hpp::Error)
{
if(!fullBodyLoaded_)
throw Error ("No full body robot was loaded");
@@ -675,7 +675,7 @@ namespace hpp {
model::Configuration_t config = dofArrayToConfig (fullBody_->device_, configuration);
rbprm::State state = rbprm::ComputeContacts(fullBody_,config,
- affMap, bindShooter_.affFilter_, dir,0,acc);
+ affMap, bindShooter_.affFilter_, dir,robustnessThreshold,acc);
hpp::floatSeq* dofArray = new hpp::floatSeq();
dofArray->length(_CORBA_ULong(state.configuration_.rows()));
for(std::size_t i=0; i< _CORBA_ULong(config.rows()); i++)
diff --git a/src/rbprmbuilder.impl.hh b/src/rbprmbuilder.impl.hh
index 308933f..1bae486 100755
--- a/src/rbprmbuilder.impl.hh
+++ b/src/rbprmbuilder.impl.hh
@@ -131,7 +131,7 @@ namespace hpp {
virtual double getEffectorDistance(unsigned short state1, unsigned short state2) throw (hpp::Error);
virtual hpp::floatSeq* generateContacts(const hpp::floatSeq& configuration,
- const hpp::floatSeq& direction, const hpp::floatSeq& acceleration) throw (hpp::Error);
+ const hpp::floatSeq& direction, const hpp::floatSeq& acceleration, const double robustnessThreshold) throw (hpp::Error);
virtual hpp::floatSeq* generateGroundContact(const hpp::Names_t& contactLimbs) throw (hpp::Error);
--
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