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Commit d87520ad authored by Florent Lamiraux's avatar Florent Lamiraux
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Reintroduce RobotSimu.

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1 merge request!1[major][cpp] starting point to integrate pinocchio
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src/dynamic_graph/sot/dynamics/humanoid_robot.py
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...@@ -16,7 +16,7 @@ ...@@ -16,7 +16,7 @@
from dynamic_graph.sot import SE3, R3, SO3 from dynamic_graph.sot import SE3, R3, SO3
from dynamic_graph.sot.core.feature_position import FeaturePosition from dynamic_graph.sot.core.feature_position import FeaturePosition
from dynamic_graph.sot.core import Device, FeaturePoint6dRelative, \ from dynamic_graph.sot.core import RobotSimu, FeaturePoint6dRelative, \
FeatureGeneric, FeatureJointLimits, Task, Constraint, GainAdaptive, SOT FeatureGeneric, FeatureJointLimits, Task, Constraint, GainAdaptive, SOT
from dynamic_graph.sot.dynamics.parser import Parser from dynamic_graph.sot.dynamics.parser import Parser
...@@ -158,7 +158,7 @@ class AbstractHumanoidRobot (object): ...@@ -158,7 +158,7 @@ class AbstractHumanoidRobot (object):
raise RunTimeError("robots models have to be initialized first") raise RunTimeError("robots models have to be initialized first")
if not self.device: if not self.device:
self.device = Device(self.name + '.device') self.device = RobotSimu(self.name + '.device')
# Freeflyer reference frame should be the same as global # Freeflyer reference frame should be the same as global
# frame so that operational point positions correspond to # frame so that operational point positions correspond to
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