From e97896bec851b513a8d8ebb06956a62d1c8aa815 Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@laas.fr>
Date: Mon, 30 Apr 2018 16:01:54 +0200
Subject: [PATCH] [script] in generate_copntact_sequence : correctly set the
patch placement even for limb that don't move
---
script/tools/generate_contact_sequence.py | 26 ++++++++++++-----------
1 file changed, 14 insertions(+), 12 deletions(-)
diff --git a/script/tools/generate_contact_sequence.py b/script/tools/generate_contact_sequence.py
index d819bb6..6da4cd4 100644
--- a/script/tools/generate_contact_sequence.py
+++ b/script/tools/generate_contact_sequence.py
@@ -21,15 +21,15 @@ def addContactLandmark(M,color,viewer):
gui = viewer.client.gui
name = 's'+str(i_sphere)
i_sphere += 1
- gui.addSphere(name,0.02,color)
- gui.setVisibility(name,"ALWAYS_ON_TOP")
+ gui.addSphere(name,0.01,color)
+ #gui.setVisibility(name,"ALWAYS_ON_TOP")
gui.addToGroup(name,viewer.sceneName)
p = M.translation.transpose().tolist()[0]
rot = Quaternion(M.rotation)
p += [rot.w]
p += rot.coeffs().transpose().tolist()[0][0:3]
gui.applyConfiguration(name,p)
- gui.addLandmark(name,0.1)
+ gui.addLandmark(name,0.03)
#print "contact altitude : "+str(p[2])
@@ -119,31 +119,33 @@ def generateContactSequence(fb,configs,beginId,endId,viewer=None, curves_initGue
MLH.rotation = rot_lh.matrix()
MRH *= MRhand_offset
- MLH *= MLhand_offset
+ MLH *= MLhand_offset
+
+ phase_d.RF_patch.placement = MRF
+ phase_d.LF_patch.placement = MLF
+ phase_d.RH_patch.placement = MRH
+ phase_d.LH_patch.placement = MLH
+
# initial state : Set all new contacts patch (either with placement computed below or unused)
if stateId==beginId:
# FIXME : for loop ? how ?
if fb.isLimbInContact(rLegId,stateId):
- phase_d.RF_patch.placement = MRF
phase_d.RF_patch.active = True
else:
- phase_d.RF_patch = unusedPatch.copy()
+ phase_d.RF_patch.active = False
if fb.isLimbInContact(lLegId,stateId):
- phase_d.LF_patch.placement = MLF
phase_d.LF_patch.active = True
else:
- phase_d.LF_patch = unusedPatch.copy()
+ phase_d.LF_patch.active = False
if fb.isLimbInContact(rArmId,stateId):
- phase_d.RH_patch.placement = MRH
phase_d.RH_patch.active = True
else:
- phase_d.RH_patch = unusedPatch.copy()
+ phase_d.RH_patch.active = False
if fb.isLimbInContact(lArmId,stateId):
- phase_d.LH_patch.placement = MLH
phase_d.LH_patch.active = True
else:
- phase_d.LH_patch = unusedPatch.copy()
+ phase_d.LH_patch.active = False
else:
# we need to copy the unchanged patch from the last simple support phase (and not create a new one with the same placement)
phase_d.RF_patch = phase_s.RF_patch
--
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