From 421c787c1b33f77e608321909b8a39559ff90a24 Mon Sep 17 00:00:00 2001
From: Francois Keith <keith@lirmm.fr>
Date: Fri, 21 Jun 2013 11:08:36 +0200
Subject: [PATCH] Update the kine_romeo sample.
The solver has been moved in sot-application.
---
python/kine_romeo.py | 15 +++++++--------
1 file changed, 7 insertions(+), 8 deletions(-)
diff --git a/python/kine_romeo.py b/python/kine_romeo.py
index 401ca0f..044cd68 100644
--- a/python/kine_romeo.py
+++ b/python/kine_romeo.py
@@ -29,8 +29,7 @@ from dynamic_graph.ros import *
ros = Ros(robot)
# Create a simple kinematic solver.
-from dynamic_graph.sot.dynamics.solver import Solver
-solver = Solver(robot)
+from dynamic_graph.sot.application.velocity.precomputed_tasks import initialize
# Alternate visualization tool
from dynamic_graph.sot.core.utils.viewer_helper import addRobotViewer
@@ -63,11 +62,10 @@ taskRH.feature.frame('desired')
# robot.tasks['right-wrist'].add(taskRH.feature.name)
# --- STATIC COM (if not walking)
-robot.createCenterOfMassFeatureAndTask(
- 'featureCom', 'featureComDef', 'comTask',
- selec = '011',
- gain = 10)
-
+# create the com task and feature tasks.
+solver = initialize(robot)
+# remove the tasks from the sot (they've been automatically added by previous method).
+solver.sot.clear()
# --- CONTACTS
# define contactLF and contactRF
@@ -91,7 +89,8 @@ gotoNd(taskRH,target,'111',(4.9,0.9,0.01,0.9))
# Fill the stack with some tasks.
solver.push(contactRF.task)
solver.push(contactLF.task)
-solver.push(robot.comTask)
+solver.push (robot.tasks ['com'])
+
solver.push(taskRH.task)
# type inc to run one iteration, or go to run indefinitely.
--
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