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Commit 9d88ce74 authored by stevet's avatar stevet
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only one error to go !

parent 63eb1b02
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CMakeLists.txt
+ 16
− 0
View file @ 9d88ce74
......@@ -53,6 +53,22 @@ ADD_REQUIRED_DEPENDENCY("hpp-model-urdf >= 3")
ADD_REQUIRED_DEPENDENCY("hpp-affordance-corba")
ADD_REQUIRED_DEPENDENCY("hpp-util >= 3")
add_required_dependency("octomap >= 1.8")
if (OCTOMAP_INCLUDE_DIRS AND OCTOMAP_LIBRARY_DIRS)
include_directories(${OCTOMAP_INCLUDE_DIRS})
link_directories(${OCTOMAP_LIBRARY_DIRS})
string(REPLACE "." ";" VERSION_LIST ${OCTOMAP_VERSION})
list(GET VERSION_LIST 0 OCTOMAP_MAJOR_VERSION)
list(GET VERSION_LIST 1 OCTOMAP_MINOR_VERSION)
list(GET VERSION_LIST 2 OCTOMAP_PATCH_VERSION)
add_definitions (-DOCTOMAP_MAJOR_VERSION=${OCTOMAP_MAJOR_VERSION}
-DOCTOMAP_MINOR_VERSION=${OCTOMAP_MINOR_VERSION}
-DOCTOMAP_PATCH_VERSION=${OCTOMAP_PATCH_VERSION})
message(STATUS "FCL uses Octomap" ${OCTOMAP_MINOR_VERSION})
else()
message(STATUS "FCL does not use Octomap")
endif()
PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
ADD_SUBDIRECTORY(src)
......
src/rbprmbuilder.impl.cc
+ 153
− 156
View file @ 9d88ce74
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src/rbprmbuilder.impl.hh
+ 27
− 30
View file @ 9d88ce74
......@@ -30,6 +30,7 @@
# include <hpp/core/problem-solver.hh>
# include <hpp/core/discretized-collision-checking.hh>
# include <hpp/core/straight-path.hh>
# include <hpp/core/problem.hh>
#include <hpp/corbaserver/affordance/server.hh>
# include <hpp/corbaserver/problem-solver-map.hh>
# include <hpp/rbprm/rbprm-path-validation.hh>
......@@ -42,7 +43,8 @@ namespace hpp {
namespace rbprm {
namespace impl {
using CORBA::Short;
typedef std::map<std::string, std::vector<boost::shared_ptr<model::CollisionObject> > > affMap_t;
typedef hpp::core::Container <hpp::core::AffordanceObjects_t> affMap_t;
struct BindShooter
{
......@@ -51,10 +53,10 @@ namespace hpp {
: shootLimit_(shootLimit)
, displacementLimit_(displacementLimit) {}
hpp::rbprm::RbPrmShooterPtr_t create (const hpp::model::DevicePtr_t& robot)
hpp::rbprm::RbPrmShooterPtr_t create (/*const hpp::pinocchio::DevicePtr_t& robot,*/ const hpp::core::Problem& problem)
{
hpp::model::RbPrmDevicePtr_t robotcast = boost::static_pointer_cast<hpp::model::RbPrmDevice>(robot);
if (affMap_.empty ()) {
hpp::pinocchio::RbPrmDevicePtr_t robotcast = boost::static_pointer_cast<hpp::pinocchio::RbPrmDevice>(problem.robot());
if (affMap_.map.empty ()) {
throw hpp::Error ("No affordances found. Unable to create shooter object.");
}
rbprm::RbPrmShooterPtr_t shooter = hpp::rbprm::RbPrmShooter::create
......@@ -65,12 +67,11 @@ namespace hpp {
return shooter;
}
hpp::core::PathValidationPtr_t createPathValidation (const hpp::model::DevicePtr_t& robot, const hpp::model::value_type& val)
hpp::core::PathValidationPtr_t createPathValidation (const hpp::pinocchio::DevicePtr_t& robot, const hpp::pinocchio::value_type& val)
{
hpp::model::RbPrmDevicePtr_t robotcast = boost::static_pointer_cast<hpp::model::RbPrmDevice>(robot);
affMap_ = problemSolver_->map
<std::vector<boost::shared_ptr<model::CollisionObject> > > ();
if (affMap_.empty ()) {
hpp::pinocchio::RbPrmDevicePtr_t robotcast = boost::static_pointer_cast<hpp::pinocchio::RbPrmDevice>(robot);
affMap_ = problemSolver_->affordanceObjects;
if (affMap_.map.empty ()) {
throw hpp::Error ("No affordances found. Unable to create Path Validaton object.");
}
hpp::rbprm::RbPrmValidationPtr_t validation
......@@ -82,12 +83,11 @@ namespace hpp {
return collisionChecking;
}
hpp::core::PathValidationPtr_t createDynamicPathValidation (const hpp::model::DevicePtr_t& robot, const hpp::model::value_type& val)
hpp::core::PathValidationPtr_t createDynamicPathValidation (const hpp::pinocchio::DevicePtr_t& robot, const hpp::pinocchio::value_type& val)
{
hpp::model::RbPrmDevicePtr_t robotcast = boost::static_pointer_cast<hpp::model::RbPrmDevice>(robot);
affMap_ = problemSolver_->map
<std::vector<boost::shared_ptr<model::CollisionObject> > > ();
if (affMap_.empty ()) {
hpp::pinocchio::RbPrmDevicePtr_t robotcast = boost::static_pointer_cast<hpp::pinocchio::RbPrmDevice>(robot);
affMap_ = problemSolver_->affordanceObjects;
if (affMap_.map.empty ()) {
throw hpp::Error ("No affordances found. Unable to create Path Validaton object.");
}
hpp::rbprm::RbPrmValidationPtr_t validation
......@@ -100,25 +100,22 @@ namespace hpp {
double sizeFootX,sizeFootY,mass,mu;
bool rectangularContact;
try {
boost::any value_x = problemSolver_->problem()->get<boost::any> (std::string("sizeFootX"));
boost::any value_y = problemSolver_->problem()->get<boost::any> (std::string("sizeFootY"));
sizeFootX = boost::any_cast<double>(value_x)/2.;
sizeFootY = boost::any_cast<double>(value_y)/2.;
rectangularContact = 1;
sizeFootX = problemSolver_->problem()->getParameter ("sizeFootX").floatValue()/2.;
sizeFootY = problemSolver_->problem()->getParameter ("sizeFootY").floatValue()/2.;
rectangularContact = 1;
} catch (const std::exception& e) {
hppDout(warning,"Warning : size of foot not definied, use 0 (contact point)");
sizeFootX =0;
sizeFootY =0;
sizeFootX = 0;
sizeFootY = 0;
rectangularContact = 0;
}
mass = robot->mass();
try {
boost::any value = problemSolver_->problem()->get<boost::any> (std::string("friction"));
mu = boost::any_cast<double>(value);
hppDout(notice,"dynamic val : mu define in python : "<<mu);
mu = problemSolver_->problem()->getParameter ("friction").floatValue();
hppDout(notice,"mu define in python : "<<mu);
} catch (const std::exception& e) {
mu= 0.5;
hppDout(notice,"dynamic val : mu not defined, take : "<<mu<<" as default.");
hppDout(notice,"mu not defined, take : "<<mu<<" as default.");
}
DynamicValidationPtr_t dynamicVal = DynamicValidation::create(rectangularContact,sizeFootX,sizeFootY,mass,mu);
collisionChecking->addDynamicValidator(dynamicVal);
......@@ -132,7 +129,7 @@ namespace hpp {
std::size_t shootLimit_;
std::size_t displacementLimit_;
std::vector<double> so3Bounds_;
affMap_t affMap_;
affMap_t affMap_;
};
class FullBodyMap {
......@@ -334,8 +331,8 @@ namespace hpp {
virtual CORBA::Short createState(const hpp::floatSeq& configuration, const hpp::Names_t& contactLimbs) throw (hpp::Error);
virtual hpp::floatSeq* getConfigAtState(unsigned short stateId) throw (hpp::Error);
virtual double setConfigAtState(unsigned short stateId, const hpp::floatSeq& config) throw (hpp::Error);
double projectStateToCOMEigen(State& s, const model::Configuration_t& com_target, unsigned short maxNumeSamples)throw (hpp::Error);
double projectStateToCOMEigen(unsigned short stateId, const model::Configuration_t& com_target, unsigned short maxNumeSamples)throw (hpp::Error);
double projectStateToCOMEigen(State& s, const pinocchio::Configuration_t& com_target, unsigned short maxNumeSamples)throw (hpp::Error);
double projectStateToCOMEigen(unsigned short stateId, const pinocchio::Configuration_t& com_target, unsigned short maxNumeSamples)throw (hpp::Error);
virtual double projectStateToCOM(unsigned short stateId, const hpp::floatSeq& com, unsigned short max_num_sample) throw (hpp::Error);
virtual void saveComputedStates(const char* filepath) throw (hpp::Error);
......@@ -399,7 +396,7 @@ namespace hpp {
}
private:
model::T_Rom romDevices_;
pinocchio::T_Rom romDevices_;
//rbprm::RbPrmFullBodyPtr_t fullBody_;
bool romLoaded_;
bool fullBodyLoaded_;
......@@ -409,7 +406,7 @@ namespace hpp {
std::vector<rbprm::State> lastStatesComputed_;
rbprm::T_StateFrame lastStatesComputedTime_;
sampling::AnalysisFactory* analysisFactory_;
model::Configuration_t refPose_;
pinocchio::Configuration_t refPose_;
}; // class RobotBuilder
} // namespace impl
} // namespace manipulation
......
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