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Jason Chemin
hpp-rbprm-corba
Commits
b916d5da
Commit
b916d5da
authored
Mar 30, 2018
by
Pierre Fernbach
Browse files
add helpers in State python class : isBalanced, isValid, robustness
parent
a3e214d4
Changes
1
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src/hpp/corbaserver/rbprm/rbprmstate.py
View file @
b916d5da
...
...
@@ -148,6 +148,14 @@ class State (object):
return
self
.
fullBody
.
getContactsVariations
(
self
.
sId
,
state
.
sId
)
def
isValid
(
self
):
return
self
.
fullBody
.
isConfigValid
(
self
.
cl
.
getConfigAtState
(
self
.
sId
))
def
isBalanced
(
self
,
robustness
=
0
):
return
self
.
fullBody
.
isStateBalanced
(
self
.
sId
,
robustness
)
def
robustness
(
self
):
return
self
.
fullBody
.
client
.
rbprm
.
rbprm
.
isStateBalanced
(
self
.
sId
)
class
StateHelper
(
object
):
...
...
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