From 2ccda49033928da3339c46b5efcb979451983e73 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Tue, 15 Feb 2011 08:05:43 +0100
Subject: [PATCH] Install tools.py and move Solver class into a separate file.
---
src/CMakeLists.txt | 1 +
src/dynamic_graph/sot/dynamics/solver.py | 34 +++++++++++++++++++
.../dynamic_graph/sot/dynamics}/tools.py | 21 +-----------
3 files changed, 36 insertions(+), 20 deletions(-)
create mode 100644 src/dynamic_graph/sot/dynamics/solver.py
rename {unitTesting/python => src/dynamic_graph/sot/dynamics}/tools.py (91%)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 89bf431..a577ac8 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -70,6 +70,7 @@ INSTALL(FILES
${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics/__init__.py
${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics/humanoid_robot.py
${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics/parser.py
+ ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/dynamics/solver.py
DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/dynamics
)
diff --git a/src/dynamic_graph/sot/dynamics/solver.py b/src/dynamic_graph/sot/dynamics/solver.py
new file mode 100644
index 0000000..23ff078
--- /dev/null
+++ b/src/dynamic_graph/sot/dynamics/solver.py
@@ -0,0 +1,34 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+# Copyright 2011, Florent Lamiraux, Thomas Moulard, JRL, CNRS/AIST
+#
+# This file is part of dynamic-graph.
+# dynamic-graph is free software: you can redistribute it and/or
+# modify it under the terms of the GNU Lesser General Public License
+# as published by the Free Software Foundation, either version 3 of
+# the License, or (at your option) any later version.
+#
+# dynamic-graph is distributed in the hope that it will be useful, but
+# WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+# General Lesser Public License for more details. You should have
+# received a copy of the GNU Lesser General Public License along with
+# dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
+
+from dynamic_graph import plug
+from dynamic_graph.sot.core import SOT
+
+class Solver:
+ robot = None
+ sot = None
+
+ def __init__(self, robot):
+ self.robot = robot
+ self.sot = SOT('solver')
+ self.sot.signal('damping').value = 1e-6
+ self.sot.setNumberDofs(self.robot.dimension)
+
+ if robot.device:
+ plug(self.sot.signal('control'), robot.device.signal('control'))
+ plug(self.robot.device.state,
+ self.robot.dynamic.position)
diff --git a/unitTesting/python/tools.py b/src/dynamic_graph/sot/dynamics/tools.py
similarity index 91%
rename from unitTesting/python/tools.py
rename to src/dynamic_graph/sot/dynamics/tools.py
index 4a4f1c8..32ce0c6 100755
--- a/unitTesting/python/tools.py
+++ b/src/dynamic_graph/sot/dynamics/tools.py
@@ -21,6 +21,7 @@ from optparse import OptionParser
from dynamic_graph import plug
from dynamic_graph.sot.core import SOT
from dynamic_graph.sot.dynamics.hrp2 import Hrp2Laas, Hrp2Jrl
+from dynamic_graph.sot.dynamics.solver import Solver
# Robotviewer is optional
@@ -140,26 +141,6 @@ def checkFinalConfiguration(position, finalPosition):
zip(position, finalPosition)))
sys.exit(1)
-##################
-# Helper classes #
-##################
-
-class Solver:
- robot = None
- sot = None
-
- def __init__(self, robot):
- self.robot = robot
- self.sot = SOT('solver')
- self.sot.signal('damping').value = 1e-6
- self.sot.setNumberDofs(self.robot.dimension)
-
- if robot.device:
- plug(self.sot.signal('control'), robot.device.signal('control'))
- plug(self.robot.device.state,
- self.robot.dynamic.position)
-
-
##################
# Initialization #
##################
--
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