From 36d817851c9ad8f0c170920de2a7c988b554e3e1 Mon Sep 17 00:00:00 2001
From: Thomas Moulard <thomas.moulard@gmail.com>
Date: Mon, 10 Jan 2011 15:23:34 +0100
Subject: [PATCH] Initialize desired positions of operational points tasks to
initial position.
---
src/dynamic_graph/sot/dynamics/humanoid_robot.py | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/src/dynamic_graph/sot/dynamics/humanoid_robot.py b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
index 3d2487b..c45a179 100755
--- a/src/dynamic_graph/sot/dynamics/humanoid_robot.py
+++ b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
@@ -221,11 +221,12 @@ class AbstractHumanoidRobot (object):
self.features = dict()
self.tasks = dict()
for op in self.OperationalPoints:
+ self.dynamicRobot.signal(op).recompute(0)
self.features[op] = \
FeaturePosition(self.name + '.feature.' + op,
self.dynamicRobot.signal(op),
self.dynamicRobot.signal('J' + op),
- SE3())
+ self.dynamicRobot.signal(op).value)
self.tasks[op] = Task(self.name + '.task.' + op)
self.tasks[op].add(self.name + '.feature.' + op)
self.tasks[op].signal('controlGain').value = .2
--
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