From c6376c9d33cb74f0c0d53d6a81629d5397284808 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Wed, 11 Jul 2012 17:01:26 +0200
Subject: [PATCH] Add some signals as attributes.
---
src/dynamic_graph/sot/dynamics/humanoid_robot.py | 12 ++++++++++++
1 file changed, 12 insertions(+)
diff --git a/src/dynamic_graph/sot/dynamics/humanoid_robot.py b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
index 8cce5eb..81254e5 100755
--- a/src/dynamic_graph/sot/dynamics/humanoid_robot.py
+++ b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
@@ -57,6 +57,7 @@ class AbstractHumanoidRobot (object):
- comRef: input (vector).
- com: output (vector)
- comSelec input (flag)
+ - comdot: input (vector) reference velocity of the center of mass
"""
@@ -307,6 +308,16 @@ class AbstractHumanoidRobot (object):
frame.jacobian.recompute(frame.jacobian.time + 1)
return frame
+ def initializeSignals (self):
+ """
+ For portability, make some signals accessible as attributes.
+ """
+ self.comRef = self.featureComDes.errorIN
+ self.zmpRef = self.device.zmp
+ self.com = self.dynamic.com
+ self.comSelec = self.featureCom.selec
+ self.comdot = self.featureComDes.errordotIN
+
def initializeRobot(self):
"""
If the robot model is correctly loaded, this method will then
@@ -399,6 +410,7 @@ class AbstractHumanoidRobot (object):
"{0}_{1}".format(self.name, frameName),
transformation,
signalName)
+ self.initializeSignals ()
def addTrace(self, entityName, signalName):
if self.tracer:
--
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