From 95eac1ad20643d27f83924149712d787bb26a18f Mon Sep 17 00:00:00 2001
From: Rohan Budhiraja <proyan@users.noreply.github.com>
Date: Tue, 16 Jan 2018 13:38:29 +0100
Subject: [PATCH] [sot-dynamic-pinocchio] change signal name hierarchy to
sotDynamicPinocchio
---
src/sot-dynamic-pinocchio.cpp | 72 +++++++++++++++++------------------
1 file changed, 36 insertions(+), 36 deletions(-)
diff --git a/src/sot-dynamic-pinocchio.cpp b/src/sot-dynamic-pinocchio.cpp
index db7e33c..436a4b1 100644
--- a/src/sot-dynamic-pinocchio.cpp
+++ b/src/sot-dynamic-pinocchio.cpp
@@ -47,80 +47,80 @@ DynamicPinocchio( const std::string & name)
,m_model(NULL)
,m_data(NULL)
- ,jointPositionSIN(NULL,"sotDynamic("+name+")::input(vector)::position")
- ,freeFlyerPositionSIN(NULL,"sotDynamic("+name+")::input(vector)::ffposition")
- ,jointVelocitySIN(NULL,"sotDynamic("+name+")::input(vector)::velocity")
- ,freeFlyerVelocitySIN(NULL,"sotDynamic("+name+")::input(vector)::ffvelocity")
- ,jointAccelerationSIN(NULL,"sotDynamic("+name+")::input(vector)::acceleration")
- ,freeFlyerAccelerationSIN(NULL,"sotDynamic("+name+")::input(vector)::ffacceleration")
+ ,jointPositionSIN(NULL,"sotDynamicPinocchio("+name+")::input(vector)::position")
+ ,freeFlyerPositionSIN(NULL,"sotDynamicPinocchio("+name+")::input(vector)::ffposition")
+ ,jointVelocitySIN(NULL,"sotDynamicPinocchio("+name+")::input(vector)::velocity")
+ ,freeFlyerVelocitySIN(NULL,"sotDynamicPinocchio("+name+")::input(vector)::ffvelocity")
+ ,jointAccelerationSIN(NULL,"sotDynamicPinocchio("+name+")::input(vector)::acceleration")
+ ,freeFlyerAccelerationSIN(NULL,"sotDynamicPinocchio("+name+")::input(vector)::ffacceleration")
,pinocchioPosSINTERN( boost::bind(&DynamicPinocchio::getPinocchioPos,this,_1, _2),
jointPositionSIN<<freeFlyerPositionSIN,
- "sotDynamic("+name+")::intern(dummy)::pinocchioPos" )
+ "sotDynamicPinocchio("+name+")::intern(dummy)::pinocchioPos" )
,pinocchioVelSINTERN( boost::bind(&DynamicPinocchio::getPinocchioVel,this,_1, _2),
jointVelocitySIN<<freeFlyerVelocitySIN,
- "sotDynamic("+name+")::intern(dummy)::pinocchioVel" )
+ "sotDynamicPinocchio("+name+")::intern(dummy)::pinocchioVel" )
,pinocchioAccSINTERN( boost::bind(&DynamicPinocchio::getPinocchioAcc,this,_1, _2),
jointAccelerationSIN<<freeFlyerAccelerationSIN,
- "sotDynamic("+name+")::intern(dummy)::pinocchioAcc" )
+ "sotDynamicPinocchio("+name+")::intern(dummy)::pinocchioAcc" )
,newtonEulerSINTERN( boost::bind(&DynamicPinocchio::computeNewtonEuler,this,_1,_2),
pinocchioPosSINTERN<<pinocchioVelSINTERN<<pinocchioAccSINTERN,
- "sotDynamic("+name+")::intern(dummy)::newtoneuler" )
+ "sotDynamicPinocchio("+name+")::intern(dummy)::newtoneuler" )
,jacobiansSINTERN( boost::bind(&DynamicPinocchio::computeJacobians,this,_1, _2),
pinocchioPosSINTERN,
- "sotDynamic("+name+")::intern(dummy)::computeJacobians" )
+ "sotDynamicPinocchio("+name+")::intern(dummy)::computeJacobians" )
,forwardKinematicsSINTERN( boost::bind(&DynamicPinocchio::computeForwardKinematics,this,_1, _2),
pinocchioPosSINTERN<<pinocchioVelSINTERN<<pinocchioAccSINTERN,
- "sotDynamic("+name+")::intern(dummy)::computeForwardKinematics" )
+ "sotDynamicPinocchio("+name+")::intern(dummy)::computeForwardKinematics" )
,ccrbaSINTERN( boost::bind(&DynamicPinocchio::computeCcrba,this,_1,_2),
pinocchioPosSINTERN<<pinocchioVelSINTERN,
- "sotDynamic("+name+")::intern(dummy)::computeCcrba" )
+ "sotDynamicPinocchio("+name+")::intern(dummy)::computeCcrba" )
,zmpSOUT( boost::bind(&DynamicPinocchio::computeZmp,this,_1,_2),
newtonEulerSINTERN,
- "sotDynamic("+name+")::output(vector)::zmp" )
+ "sotDynamicPinocchio("+name+")::output(vector)::zmp" )
,JcomSOUT( boost::bind(&DynamicPinocchio::computeJcom,this,_1,_2),
pinocchioPosSINTERN,
- "sotDynamic("+name+")::output(matrix)::Jcom" )
+ "sotDynamicPinocchio("+name+")::output(matrix)::Jcom" )
,comSOUT( boost::bind(&DynamicPinocchio::computeCom,this,_1,_2),
forwardKinematicsSINTERN,
- "sotDynamic("+name+")::output(vector)::com" )
+ "sotDynamicPinocchio("+name+")::output(vector)::com" )
,inertiaSOUT( boost::bind(&DynamicPinocchio::computeInertia,this,_1,_2),
pinocchioPosSINTERN,
- "sotDynamic("+name+")::output(matrix)::inertia" )
+ "sotDynamicPinocchio("+name+")::output(matrix)::inertia" )
,footHeightSOUT( boost::bind(&DynamicPinocchio::computeFootHeight,this,_1,_2),
pinocchioPosSINTERN,
- "sotDynamic("+name+")::output(double)::footHeight" )
+ "sotDynamicPinocchio("+name+")::output(double)::footHeight" )
,upperJlSOUT( boost::bind(&DynamicPinocchio::getUpperPositionLimits,this,_1,_2),
sotNOSIGNAL,
- "sotDynamic("+name+")::output(vector)::upperJl" )
+ "sotDynamicPinocchio("+name+")::output(vector)::upperJl" )
,lowerJlSOUT( boost::bind(&DynamicPinocchio::getLowerPositionLimits,this,_1,_2),
sotNOSIGNAL,
- "sotDynamic("+name+")::output(vector)::lowerJl" )
+ "sotDynamicPinocchio("+name+")::output(vector)::lowerJl" )
,upperVlSOUT( boost::bind(&DynamicPinocchio::getUpperVelocityLimits,this,_1,_2),
sotNOSIGNAL,
- "sotDynamic("+name+")::output(vector)::upperVl" )
+ "sotDynamicPinocchio("+name+")::output(vector)::upperVl" )
,upperTlSOUT( boost::bind(&DynamicPinocchio::getMaxEffortLimits,this,_1,_2),
sotNOSIGNAL,
- "sotDynamic("+name+")::output(vector)::upperTl" )
+ "sotDynamicPinocchio("+name+")::output(vector)::upperTl" )
- ,inertiaRotorSOUT( "sotDynamic("+name+")::output(matrix)::inertiaRotor" )
- ,gearRatioSOUT( "sotDynamic("+name+")::output(matrix)::gearRatio" )
+ ,inertiaRotorSOUT( "sotDynamicPinocchio("+name+")::output(matrix)::inertiaRotor" )
+ ,gearRatioSOUT( "sotDynamicPinocchio("+name+")::output(matrix)::gearRatio" )
,inertiaRealSOUT( boost::bind(&DynamicPinocchio::computeInertiaReal,this,_1,_2),
inertiaSOUT << gearRatioSOUT << inertiaRotorSOUT,
- "sotDynamic("+name+")::output(matrix)::inertiaReal" )
+ "sotDynamicPinocchio("+name+")::output(matrix)::inertiaReal" )
,MomentaSOUT( boost::bind(&DynamicPinocchio::computeMomenta,this,_1,_2),
ccrbaSINTERN,
- "sotDynamic("+name+")::output(vector)::momenta" )
+ "sotDynamicPinocchio("+name+")::output(vector)::momenta" )
,AngularMomentumSOUT( boost::bind(&DynamicPinocchio::computeAngularMomentum,this,_1,_2),
ccrbaSINTERN,
- "sotDynamic("+name+")::output(vector)::angularmomentum" )
+ "sotDynamicPinocchio("+name+")::output(vector)::angularmomentum" )
,dynamicDriftSOUT( boost::bind(&DynamicPinocchio::computeTorqueDrift,this,_1,_2),
newtonEulerSINTERN,
- "sotDynamic("+name+")::output(vector)::dynamicDrift" )
+ "sotDynamicPinocchio("+name+")::output(vector)::dynamicDrift" )
{
sotDEBUGIN(5);
@@ -455,14 +455,14 @@ createJacobianSignal( const std::string& signame, const std::string& jointName )
sig = new dg::SignalTimeDependent< dg::Matrix,int >
( boost::bind(&DynamicPinocchio::computeGenericJacobian,this,true,frameId,_1,_2),
jacobiansSINTERN,
- "sotDynamic("+name+")::output(matrix)::"+signame );
+ "sotDynamicPinocchio("+name+")::output(matrix)::"+signame );
}
else if(m_model->existJointName(jointName)) {
long int jointId = m_model->getJointId(jointName);
sig = new dg::SignalTimeDependent< dg::Matrix,int >
( boost::bind(&DynamicPinocchio::computeGenericJacobian,this,false,jointId,_1,_2),
jacobiansSINTERN,
- "sotDynamic("+name+")::output(matrix)::"+signame );
+ "sotDynamicPinocchio("+name+")::output(matrix)::"+signame );
}
else SOT_THROW ExceptionDynamic(ExceptionDynamic::GENERIC,
"Robot has no joint corresponding to " + jointName);
@@ -484,14 +484,14 @@ createEndeffJacobianSignal( const std::string& signame, const std::string& joint
sig = new dg::SignalTimeDependent< dg::Matrix,int >
( boost::bind(&DynamicPinocchio::computeGenericEndeffJacobian,this,true,frameId,_1,_2),
jacobiansSINTERN,
- "sotDynamic("+name+")::output(matrix)::"+signame );
+ "sotDynamicPinocchio("+name+")::output(matrix)::"+signame );
}
else if(m_model->existJointName(jointName)) {
long int jointId = m_model->getJointId(jointName);
sig = new dg::SignalTimeDependent< dg::Matrix,int >
( boost::bind(&DynamicPinocchio::computeGenericEndeffJacobian,this,false,jointId,_1,_2),
jacobiansSINTERN,
- "sotDynamic("+name+")::output(matrix)::"+signame );
+ "sotDynamicPinocchio("+name+")::output(matrix)::"+signame );
}
else SOT_THROW ExceptionDynamic(ExceptionDynamic::GENERIC,
"Robot has no joint corresponding to " + jointName);
@@ -512,14 +512,14 @@ createPositionSignal( const std::string& signame, const std::string& jointName)
sig = new dg::SignalTimeDependent< MatrixHomogeneous,int >
( boost::bind(&DynamicPinocchio::computeGenericPosition,this,true,frameId,_1,_2),
forwardKinematicsSINTERN,
- "sotDynamic("+name+")::output(matrixHomo)::"+signame );
+ "sotDynamicPinocchio("+name+")::output(matrixHomo)::"+signame );
}
else if(m_model->existJointName(jointName)) {
long int jointId = m_model->getJointId(jointName);
sig = new dg::SignalTimeDependent< MatrixHomogeneous,int >
( boost::bind(&DynamicPinocchio::computeGenericPosition,this,false,jointId,_1,_2),
forwardKinematicsSINTERN,
- "sotDynamic("+name+")::output(matrixHomo)::"+signame );
+ "sotDynamicPinocchio("+name+")::output(matrixHomo)::"+signame );
}
else SOT_THROW ExceptionDynamic(ExceptionDynamic::GENERIC,
"Robot has no joint corresponding to " + jointName);
@@ -541,7 +541,7 @@ createVelocitySignal( const std::string& signame,const std::string& jointName )
= new SignalTimeDependent< dg::Vector,int >
( boost::bind(&DynamicPinocchio::computeGenericVelocity,this,jointId,_1,_2),
forwardKinematicsSINTERN,
- "sotDynamic("+name+")::output(dg::Vector)::"+signame );
+ "sotDynamicPinocchio("+name+")::output(dg::Vector)::"+signame );
genericSignalRefs.push_back( sig );
signalRegistration( *sig );
@@ -559,7 +559,7 @@ createAccelerationSignal( const std::string& signame, const std::string& jointNa
= new dg::SignalTimeDependent< dg::Vector,int >
( boost::bind(&DynamicPinocchio::computeGenericAcceleration,this,jointId,_1,_2),
forwardKinematicsSINTERN,
- "sotDynamic("+name+")::output(matrixHomo)::"+signame );
+ "sotDynamicPinocchio("+name+")::output(matrixHomo)::"+signame );
genericSignalRefs.push_back( sig );
signalRegistration( *sig );
--
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