From c552c0c1446067be36df4f3260bec67c1a59e87e Mon Sep 17 00:00:00 2001
From: Thomas Moulard <thomas.moulard@gmail.com>
Date: Wed, 28 Sep 2011 12:01:53 +0200
Subject: [PATCH] Replace frame by frames in humanoid_robot.py.
---
.../sot/dynamics/humanoid_robot.py | 18 +++++++++---------
1 file changed, 9 insertions(+), 9 deletions(-)
diff --git a/src/dynamic_graph/sot/dynamics/humanoid_robot.py b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
index 44090e4..e87c14c 100755
--- a/src/dynamic_graph/sot/dynamics/humanoid_robot.py
+++ b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
@@ -279,20 +279,20 @@ class AbstractHumanoidRobot (object):
setattr(self, memberName, self.features[op])
# --- additional frames ---
- self.frame = dict()
+ self.frames = dict()
for (frameName, transformation, signalName) in self.AdditionalFrames:
- self.frame[frameName] = OpPointModifier(
+ self.frames[frameName] = OpPointModifier(
"{0}_{1}".format(self.name, frameName))
- self.frame[frameName].setTransformation(transformation)
+ self.frames[frameName].setTransformation(transformation)
plug(self.dynamic.signal(signalName),
- self.frame[frameName].positionIN)
+ self.frames[frameName].positionIN)
plug(self.dynamic.signal("J{0}".format(signalName)),
- self.frame[frameName].jacobianIN)
+ self.frames[frameName].jacobianIN)
- self.frame[frameName].position.recompute(
- self.frame[frameName].position.time + 1)
- self.frame[frameName].jacobian.recompute(
- self.frame[frameName].jacobian.time + 1)
+ self.frames[frameName].position.recompute(
+ self.frames[frameName].position.time + 1)
+ self.frames[frameName].jacobian.recompute(
+ self.frames[frameName].jacobian.time + 1)
def __init__(self, name):
--
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