From 6c9ef2234770aa9f9970a7087f22a64485b3bac3 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Fri, 18 Feb 2011 21:30:27 +0100
Subject: [PATCH] Replace . by _ in signal and entity names.
---
.../sot/dynamics/humanoid_robot.py | 21 +++++++++----------
1 file changed, 10 insertions(+), 11 deletions(-)
diff --git a/src/dynamic_graph/sot/dynamics/humanoid_robot.py b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
index 19ec8cc..5876825 100755
--- a/src/dynamic_graph/sot/dynamics/humanoid_robot.py
+++ b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
@@ -159,7 +159,7 @@ class AbstractHumanoidRobot (object):
raise RunTimeError("robots models have to be initialized first")
if not self.device:
- self.device = RobotSimu(self.name + '.device')
+ self.device = RobotSimu(self.name + '_device')
# Freeflyer reference frame should be the same as global
# frame so that operational point positions correspond to
@@ -169,23 +169,22 @@ class AbstractHumanoidRobot (object):
self.dynamic.velocity.value = self.dimension*(0.,)
self.dynamic.acceleration.value = self.dimension*(0.,)
- self.initializeOpPoints(self.dynamic,
- self.name + '.dynamics')
+ self.initializeOpPoints(self.dynamic)
# --- center of mass ------------
self.dynamic.com.recompute(0)
self.dynamic.Jcom.recompute(0)
- self.featureCom = FeatureGeneric(self.name + '.feature.com')
+ self.featureCom = FeatureGeneric(self.name + '_feature_com')
plug(self.dynamic.com, self.featureCom.errorIN)
plug(self.dynamic.Jcom,
self.featureCom.jacobianIN)
self.featureCom.selec.value = '011'
- self.featureComDes = FeatureGeneric(self.name + '.feature.ref.com')
+ self.featureComDes = FeatureGeneric(self.name + '.feature_ref_com')
self.featureComDes.errorIN.value = self.dynamic.com.value
self.featureCom.sdes.value = self.featureComDes
- self.comTask = Task(self.name + '.task.com')
- self.comTask.add(self.name + '.feature.com')
+ self.comTask = Task(self.name + '_task_com')
+ self.comTask.add(self.name + '_feature_com')
self.comTask.controlGain.value = 1.
# --- operational points tasks -----
@@ -195,12 +194,12 @@ class AbstractHumanoidRobot (object):
self.dynamic.signal(op).recompute(0)
self.dynamic.signal('J'+op).recompute(0)
self.features[op] = \
- FeaturePosition(self.name + '.feature.' + op,
+ FeaturePosition(self.name + '_feature_' + op,
self.dynamic.signal(op),
self.dynamic.signal('J' + op),
self.dynamic.signal(op).value)
- self.tasks[op] = Task(self.name + '.task.' + op)
- self.tasks[op].add(self.name + '.feature.' + op)
+ self.tasks[op] = Task(self.name + '_task_' + op)
+ self.tasks[op].add(self.name + '_feature_' + op)
self.tasks[op].controlGain.value = .2
# define a member for each operational point
w = op.split('-')
@@ -225,7 +224,7 @@ class HumanoidRobot(AbstractHumanoidRobot):
AbstractHumanoidRobot.__init__(self, name)
self.filename = filename
self.dynamic = \
- self.loadModelFromKxml (self.name + '.dynamics', self.filename)
+ self.loadModelFromKxml (self.name + '_dynamics', self.filename)
self.dimension = self.dynamic.getDimension()
self.halfSitting = self.dimension*(0.,)
self.initializeRobot()
--
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