From 99ba9e8aa8d9b199f65b42e4b1dc85279dd61b9c Mon Sep 17 00:00:00 2001
From: Thomas Moulard <thomas.moulard@gmail.com>
Date: Mon, 10 Jan 2011 17:58:55 +0100
Subject: [PATCH] Remove forwardKinematics from Python files.
---
src/dynamic_graph/sot/dynamics/hrp2.py | 6 ---
.../sot/dynamics/humanoid_robot.py | 53 ++-----------------
2 files changed, 5 insertions(+), 54 deletions(-)
diff --git a/src/dynamic_graph/sot/dynamics/hrp2.py b/src/dynamic_graph/sot/dynamics/hrp2.py
index 4e95d13..edb8e5e 100644
--- a/src/dynamic_graph/sot/dynamics/hrp2.py
+++ b/src/dynamic_graph/sot/dynamics/hrp2.py
@@ -67,10 +67,4 @@ class Hrp2(AbstractHumanoidRobot):
self.dimension = self.dynamicRobot.getDimension()
if self.dimension != len(self.halfSitting):
raise "invalid half-sitting pose"
-
- self.forwardKinematics = DynamicHrp2(self.name + '.forwardKinematics')
- self.forwardKinematics.setFiles(modelDir, modelName,
- specificitiesPath, jointRankPath)
- self.forwardKinematics.parse()
-
self.initializeRobot()
diff --git a/src/dynamic_graph/sot/dynamics/humanoid_robot.py b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
index c45a179..9a4c133 100755
--- a/src/dynamic_graph/sot/dynamics/humanoid_robot.py
+++ b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
@@ -32,8 +32,7 @@ class AbstractHumanoidRobot (object):
This class instantiates all the entities required to get a consistent
representation of a humanoid robot:
- - robot models (dynamic model and the separate forward kinematics
- only model used to compute the freeflyer position)
+ - robot model
- angleEstimator used to link the two robot models
@@ -72,26 +71,10 @@ class AbstractHumanoidRobot (object):
dynamicRobot = None
"""
The robot dynamic model.
- """
- forwardKinematics = None
- """
- The forward kinematics model.
-
- This alternative representation of the robot is required to compute
- the freeflyer (i.e. waist) position in the global frame.
-
- In the dynamic robot model, the freeflyer is not actuated. Hence, the
- freeflyer value remains zero all the time.
-
- FIXME: describe the algorithm used to deduce the freeflyer position
- and the role of the angle estimator (ankle flexibility?).
-
"""
dimension = None
"""The configuration size."""
- angleEstimator = None
-
featureCom = None
"""
This generic feature takes as input the robot center of mass
@@ -161,19 +144,15 @@ class AbstractHumanoidRobot (object):
def initializeRobot(self):
"""
- If the two robots models are correctly loaded (respectively in
- attributes robotDynamics and forwardKinematics), this method
- will then initialize the operational points, set the position
- to half-sitting with null velocity/acceleration.
-
- It also initializes the angle estimator which makes the link
- between the dynamics model and the forward kinematics one.
+ If the robot model is correctly loaded, this method will then
+ initialize the operational points, set the position to
+ half-sitting with null velocity/acceleration.
To finish, different tasks are initialized:
- the center of mass task used to keep the robot stability
- one task per operational point to ease robot control
"""
- if not self.dynamicRobot or not self.forwardKinematics:
+ if not self.dynamicRobot:
raise "robots models have to be initialized first"
if self.simu:
@@ -187,22 +166,8 @@ class AbstractHumanoidRobot (object):
self.dynamicRobot.signal('velocity').value = self.dimension*(0.,)
self.dynamicRobot.signal('acceleration').value = self.dimension*(0.,)
- self.forwardKinematics.signal('position').value = self.halfSitting
- self.forwardKinematics.signal('velocity').value = self.dimension*(0.,)
- self.forwardKinematics.signal('acceleration').value = \
- self.dimension*(0.,)
-
-
self.initializeOpPoints(self.dynamicRobot,
self.name + '.dynamics')
- self.initializeOpPoints(self.forwardKinematics,
- self.name + '.forwardKinematics')
-
- # --- freeflyer pose ------------
- self.angleEstimator = AngleEstimator('angleEstimator')
- self.angleEstimator.setFromSensor(False)
- self.angleEstimator.signal('sensorWorldRotation').value = I3
- self.angleEstimator.signal('sensorEmbeddedPosition').value = I4
# --- center of mass ------------
self.featureCom = FeatureGeneric(self.name + '.feature.com')
@@ -247,16 +212,8 @@ class HumanoidRobot(AbstractHumanoidRobot):
def __init__(self, name, filename, simu):
AbstractHumanoidRobot.__init__(self, name, simu)
self.filename = filename
-
self.dynamicRobot = \
self.loadModelFromKxml (self.name + '.dynamics', self.filename)
-
self.dimension = self.dynamicRobot.getDimension()
self.halfSitting = self.dimension*(0.,)
-
- # Create entity to compute position of contact foot in root
- # joint frame.
- self.forwardKinematics = \
- self.loadModelFromKxml (self.name + '.forwardKinematics',
- self.filename)
self.initializeRobot()
--
GitLab