From 6f1b27b585b8a313456c06f702a5ec22302b1987 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Wed, 11 Jul 2012 17:01:59 +0200
Subject: [PATCH] Add method help and update documentation.
---
.../sot/dynamics/humanoid_robot.py | 28 +++++++++++++++----
1 file changed, 22 insertions(+), 6 deletions(-)
diff --git a/src/dynamic_graph/sot/dynamics/humanoid_robot.py b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
index 8a805ae..16fd1f8 100755
--- a/src/dynamic_graph/sot/dynamics/humanoid_robot.py
+++ b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
@@ -36,15 +36,28 @@ I4 = reduce(lambda m, i: m + (i*(0.,)+(1.,)+ (3-i)*(0.,),), range(4), ())
class AbstractHumanoidRobot (object):
"""
This class instantiates all the entities required to get a consistent
- representation of a humanoid robot:
+ representation of a humanoid robot, mainly:
+ - device : to integrate velocities into angular control,
+ - dynamic: to compute forward geometry and kinematics,
+ - zmpFromForces: to compute ZMP force foot force sensors,
+ - stabilizer: to stabilize balanced motions
- - robot model
+ Operational points are stored into 'OperationalPoints' list. Some of them
+ are also accessible directly as attributes:
+ - leftWrist,
+ - rightWrist,
+ - leftAnkle,
+ - rightAnkle,
+ - Gaze.
- - angleEstimator used to link the two robot models
+ Tasks are stored into 'tasks' dictionary.
+
+ For portability, some signals are accessible as attributes:
+ - zmpRef: input (vector),
+ - comRef: input (vector).
+ - com: output (vector)
+ - comSelec input (flag)
- - usual features and tasks for a robot:
- - center of mass
- - one task per operational point
"""
OperationalPoints = ['left-wrist', 'right-wrist',
@@ -172,6 +185,9 @@ class AbstractHumanoidRobot (object):
"""
timeStep = 0.005
+ def help (self):
+ print (AbstractHumanoidRobot.__doc__)
+
def loadModelFromKxml(self, name, filename):
"""
Load a model from a kxml file and return the parsed model.
--
GitLab