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Commits (11)
Subproject commit 9e21ae2222fdb51dccd1320bb7208f73259b0c73
Subproject commit fb4c22c319ec5320f9a85527eb1a4130954846f5
......@@ -50,6 +50,7 @@
namespace dynamicgraph {
namespace sot {
namespace dg = dynamicgraph;
namespace talos_balance {
/* --------------------------------------------------------------------- */
......
......@@ -19,6 +19,7 @@
#define __invdyn_robots_fwd_hpp__
namespace dynamicgraph {
namespace sot {
namespace dg = dynamicgraph;
namespace talos_balance {
namespace robots {
class RobotWrapper;
......
......@@ -43,6 +43,7 @@
namespace dynamicgraph {
namespace sot {
namespace dg = dynamicgraph;
namespace talos_balance {
/* --------------------------------------------------------------------- */
......
......@@ -2,7 +2,7 @@
<!--Author: Gabriele Buondonno-->
<package>
<name>sot-talos-balance</name>
<version>1.9.1</version>
<version>1.9.2</version>
<description>The sot_talos_balance package</description>
<maintainer email="gbuondon@laas.fr">Gabriele Buondonno</maintainer>
......
......@@ -15,8 +15,6 @@
#define CALIB_ITER_TIME 1000 // Iteration needed for sampling and averaging the FT sensors while calibrating
using namespace sot::talos_balance;
namespace dynamicgraph {
namespace sot {
namespace talos_balance {
......
......@@ -16,8 +16,6 @@
#define CALIB_ITER_TIME 1000 // Iteration needed for sampling and averaging the FT sensors while calibrating
using namespace sot::talos_balance;
namespace dynamicgraph {
namespace sot {
namespace talos_balance {
......
......@@ -16,8 +16,6 @@
// #include "RTProtocol.h"
// #include "RTPacket.h"
using namespace sot::talos_balance;
namespace dynamicgraph {
namespace sot {
namespace talos_balance {
......
......@@ -536,9 +536,7 @@ def create_dcm_com_controller(Kp, Ki, dt, robot, dcmSignal):
return controller
def create_parameter_server(conf, dt, robot_name='robot'):
param_server = ParameterServer("param_server")
def fill_parameter_server(param_server,conf, dt, robot_name='robot'):
# Init should be called before addCtrlMode
# because the size of state vector must be known.
param_server.init(dt, conf.urdfFileName, robot_name)
......@@ -575,6 +573,9 @@ def create_parameter_server(conf, dt, robot_name='robot'):
return param_server
def create_parameter_server(conf, dt, robot_name='robot'):
param_server = ParameterServer("param_server")
fill_parameter_server(param_server,conf,dt,robot_name)
def create_example(robot_name='robot', firstAdd=0., secondAdd=0.):
example = Example('example')
......@@ -696,4 +697,3 @@ def reload_folder(robot, folder, zmp=False):
set_trigger(robot, False)
load_folder(robot, folder, zmp)
set_trigger(robot, True)
......@@ -31,7 +31,7 @@ g = 9.81
omega = sqrt(g / h)
# --- Parameter server
robot.param_server = create_parameter_server(param_server_conf, dt)
fill_parameter_server(robot.param_server,param_server_conf, dt)
# --- Initial feet and waist
robot.dynamic.createOpPoint('LF', robot.OperationalPointsMap['left-ankle'])
......
......@@ -22,12 +22,11 @@
#include <sot/core/stop-watch.hh>
#include <sot/talos_balance/utils/statistics.hh>
using namespace sot::talos_balance;
namespace dynamicgraph {
namespace sot {
namespace talos_balance {
namespace dynamicgraph = ::dynamicgraph;
namespace dg = dynamicgraph;
using namespace dynamicgraph;
using namespace dynamicgraph::command;
using namespace std;
......