From daacc89b634a465c4c16f948df46f2a45444362f Mon Sep 17 00:00:00 2001
From: Thomas Moulard <thomas.moulard@gmail.com>
Date: Mon, 25 Apr 2011 12:16:05 +0200
Subject: [PATCH] Implement reset in humanoid_robot.py.
---
.../sot/dynamics/humanoid_robot.py | 22 +++++++++++++++++++
1 file changed, 22 insertions(+)
diff --git a/src/dynamic_graph/sot/dynamics/humanoid_robot.py b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
index af3add7..05634fe 100755
--- a/src/dynamic_graph/sot/dynamics/humanoid_robot.py
+++ b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
@@ -212,6 +212,28 @@ class AbstractHumanoidRobot (object):
def __init__(self, name):
self.name = name
+ def reset(self, posture = None):
+ """
+ Restart the control from another position.
+
+ This method has not been extensively tested and
+ should be used carefully.
+
+ In particular, tasks should be removed from the
+ solver before attempting a reset.
+ """
+ if not posture:
+ posture = self.halfSitting
+ self.device.set(posture)
+
+ self.dynamic.com.recompute(self.device.state.time+1)
+ self.dynamic.Jcom.recompute(self.device.state.time+1)
+ self.featureComDes.errorIN.value = self.dynamic.com.value
+
+ for op in self.OperationalPoints:
+ self.dynamic.signal(op).recompute(self.device.state.time+1)
+ self.dynamic.signal('J'+op).recompute(self.device.state.time+1)
+ self.features[op].reference.value = self.dynamic.signal(op).value
class HumanoidRobot(AbstractHumanoidRobot):
--
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