From 959400cfc381414e894c15ddca2233a6d4989126 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Fri, 11 Feb 2011 17:53:57 +0100
Subject: [PATCH] If device is provided, do not create it in Hrp2 class.
---
src/dynamic_graph/sot/dynamics/hrp2.py.in | 17 ++++++++++-------
.../sot/dynamics/humanoid_robot.py | 6 ++++++
2 files changed, 16 insertions(+), 7 deletions(-)
diff --git a/src/dynamic_graph/sot/dynamics/hrp2.py.in b/src/dynamic_graph/sot/dynamics/hrp2.py.in
index fb7303f..d4c2683 100755
--- a/src/dynamic_graph/sot/dynamics/hrp2.py.in
+++ b/src/dynamic_graph/sot/dynamics/hrp2.py.in
@@ -38,16 +38,17 @@ class Hrp2(AbstractHumanoidRobot):
res = (config + 10*(0.,))
return res
- def __init__(self, name, modelDir, xmlDir):
+ def __init__(self, name, modelDir, xmlDir, device):
AbstractHumanoidRobot.__init__ (self, name)
+ self.device = device
modelName = 'HRP2JRLmainsmall.wrl'
specificitiesPath = xmlDir + '/HRP2SpecificitiesSmall.xml'
jointRankPath = xmlDir + '/HRP2LinkJointRankSmall.xml'
self.dynamic = DynamicHrp2(self.name + '.dynamics')
self.dynamic.setFiles(modelDir, modelName,
- specificitiesPath, jointRankPath)
+ specificitiesPath, jointRankPath)
self.dynamic.parse()
self.dimension = self.dynamic.getDimension()
if self.dimension != len(self.halfSitting):
@@ -76,9 +77,10 @@ class Hrp2Jrl (Hrp2):
def __init__(self, name,
modelDir = hrp2_10_pkgdatarootdir,
- xmlDir = hrp2_10_pkgdatarootdir):
- Hrp2.__init__(self, modelDir, xmlDir)
-
+ xmlDir = hrp2_10_pkgdatarootdir,
+ device = None):
+ Hrp2.__init__(self, name, modelDir, xmlDir, device)
+
class Hrp2Laas (Hrp2):
"""
This class instanciates LAAS Hrp2 robot
@@ -101,5 +103,6 @@ class Hrp2Laas (Hrp2):
def __init__(self, name,
modelDir = hrp2_14_pkgdatarootdir,
- xmlDir = hrp2_14_pkgdatarootdir):
- Hrp2.__init__(self, modelDir, xmlDir)
+ xmlDir = hrp2_14_pkgdatarootdir,
+ device = None):
+ Hrp2.__init__(self, name, modelDir, xmlDir, device)
diff --git a/src/dynamic_graph/sot/dynamics/humanoid_robot.py b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
index 11e8161..45d221e 100755
--- a/src/dynamic_graph/sot/dynamics/humanoid_robot.py
+++ b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
@@ -68,6 +68,12 @@ class AbstractHumanoidRobot (object):
"""
The robot dynamic model.
"""
+ device = None
+ """
+ The device that integrates the dynamic equation, namely
+ - the real robot or
+ - a simulator
+ """
dimension = None
"""The configuration size."""
--
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