From 02df54642c565693851169f37b7b13669e0f8225 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Fri, 18 Feb 2011 10:14:44 +0100
Subject: [PATCH] Compute Jacobian of operational points and of center of mass
at initialization.
---
src/dynamic_graph/sot/dynamics/humanoid_robot.py | 3 +++
1 file changed, 3 insertions(+)
diff --git a/src/dynamic_graph/sot/dynamics/humanoid_robot.py b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
index 8fba878..215339f 100755
--- a/src/dynamic_graph/sot/dynamics/humanoid_robot.py
+++ b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
@@ -173,6 +173,8 @@ class AbstractHumanoidRobot (object):
# --- center of mass ------------
self.dynamic.com.recompute(0)
+ self.dynamic.Jcom.recompute(0)
+
self.featureCom = FeatureGeneric(self.name + '.feature.com')
plug(self.dynamic.com, self.featureCom.errorIN)
plug(self.dynamic.Jcom,
@@ -190,6 +192,7 @@ class AbstractHumanoidRobot (object):
self.tasks = dict()
for op in self.OperationalPoints:
self.dynamic.signal(op).recompute(0)
+ self.dynamic.signal('J'+op).recompute(0)
self.features[op] = \
FeaturePosition(self.name + '.feature.' + op,
self.dynamic.signal(op),
--
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