From aa4f4f0bd3dbfbe944429d391d6c116c64308996 Mon Sep 17 00:00:00 2001
From: Mehdi Benallegue <mehdi.benallegue@gmail.com>
Date: Wed, 12 Feb 2014 19:40:47 +0100
Subject: [PATCH] Remove the None members from the definition of a humanoid
robot.
These members still need to be redefined when describing a humanoid robot
---
.../sot/dynamics/humanoid_robot.py | 56 +++++--------------
1 file changed, 13 insertions(+), 43 deletions(-)
diff --git a/src/dynamic_graph/sot/dynamics/humanoid_robot.py b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
index a4bcc2d..7a56201 100755
--- a/src/dynamic_graph/sot/dynamics/humanoid_robot.py
+++ b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
@@ -47,8 +47,21 @@ class AbstractHumanoidRobot (object):
- rightAnkle,
- Gaze.
+ Other attributes require to be defined:
+ - halfSitting: half-sitting position is the robot initial pose.
+ This attribute *must* be defined in subclasses.
+
+ - dynamic: The robot dynamic model.
+
+ - device: The device that integrates the dynamic equation, namely
+ the real robot or
+ a simulator
+
+ - dimension: The configuration size.
"""
+
+
OperationalPoints = ['left-wrist', 'right-wrist',
'left-ankle', 'right-ankle',
'gaze']
@@ -77,50 +90,7 @@ class AbstractHumanoidRobot (object):
- operational point file.
"""
- name = None
- """Entity name (internal use)"""
-
- halfSitting = None
- """
- The half-sitting position is the robot initial pose.
- This attribute *must* be defined in subclasses.
- """
-
- dynamic = None
- """
- 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."""
-
- featureCom = None
- """
- This generic feature takes as input the robot center of mass
- and as desired value the featureComDes feature of this class.
- """
- featureComDes = None
- """
- The feature associated to the robot center of mass desired
- position.
- """
- comTask = None
- features = dict()
- """
- Features associated to each operational point. Keys are
- corresponding to operational points.
- """
- tasks = dict()
- """
- Features associated to each operational point. Keys are
- corresponding to operational points.
- """
frames = dict()
"""
--
GitLab