From e19cb87ac72c9479205513b62b19b5dfbf9940a6 Mon Sep 17 00:00:00 2001
From: Thomas Moulard <thomas.moulard@gmail.com>
Date: Wed, 13 Apr 2011 08:45:24 +0200
Subject: [PATCH] Fix examples.
---
unitTesting/python/dynamic_walk.py | 3 +--
unitTesting/python/feet_follower.py | 2 +-
unitTesting/python/quasistatic_walking.py | 10 ++++------
unitTesting/python/reach_both_hands.py | 12 ++++++------
unitTesting/python/reach_left_hand.py | 12 ++++++------
unitTesting/python/reach_right_hand.py | 12 ++++++------
6 files changed, 24 insertions(+), 27 deletions(-)
diff --git a/unitTesting/python/dynamic_walk.py b/unitTesting/python/dynamic_walk.py
index 7b36e46..23699b1 100755
--- a/unitTesting/python/dynamic_walk.py
+++ b/unitTesting/python/dynamic_walk.py
@@ -24,8 +24,7 @@ from dynamic_graph.sot.dynamics.hrp2 import Hrp2
from dynamic_graph import enableTrace, plug
-from tools import *
-
+from dynamic_graph.sot.dynamics.tools import *
class HalfStep:
startX = 0.
diff --git a/unitTesting/python/feet_follower.py b/unitTesting/python/feet_follower.py
index 043179d..1576e43 100755
--- a/unitTesting/python/feet_follower.py
+++ b/unitTesting/python/feet_follower.py
@@ -15,7 +15,7 @@
# received a copy of the GNU Lesser General Public License along with
# dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
-from tools import *
+from dynamic_graph.sot.dynamics.tools import *
from dynamic_graph.sot.dynamics.feet_follower import FeetFollowerFromFile
feetFollower = FeetFollowerFromFile('feet-follower')
diff --git a/unitTesting/python/quasistatic_walking.py b/unitTesting/python/quasistatic_walking.py
index e3608d4..3de2bc0 100755
--- a/unitTesting/python/quasistatic_walking.py
+++ b/unitTesting/python/quasistatic_walking.py
@@ -21,8 +21,7 @@ from dynamic_graph.sot.dynamics.hrp2 import Hrp2
from dynamic_graph import enableTrace, plug
-from tools import *
-
+from dynamic_graph.sot.dynamics.tools import *
class QuasiStaticWalking:
leftFoot = 0
@@ -155,13 +154,12 @@ class QuasiStaticWalking:
# Push tasks
# Feet tasks.
-solver.sot.push(robot.name + '.task.right-ankle')
-solver.sot.push(robot.name + '.task.left-ankle')
+solver.sot.push(robot.tasks['right-ankle'].name)
+solver.sot.push(robot.tasks['left-ankle'].name)
# Center of mass
# FIXME: trigger segv at exit.
-solver.sot.push(robot.name + '.task.com')
-
+solver.sot.push(robot.comTask.name)
# Main.
diff --git a/unitTesting/python/reach_both_hands.py b/unitTesting/python/reach_both_hands.py
index 9658c8d..ab853dc 100755
--- a/unitTesting/python/reach_both_hands.py
+++ b/unitTesting/python/reach_both_hands.py
@@ -16,7 +16,7 @@
# dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
import sys
-from tools import *
+from dynamic_graph.sot.dynamics.tools import *
# Move left wrist
reach(robot, 'left-wrist', 0.25, 0.25, 0.5)
@@ -24,13 +24,13 @@ reach(robot, 'right-wrist', 0.25, -0.25, 0.5)
# Push tasks
# Operational points tasks
-solver.sot.push(robot.name + '.task.right-ankle')
-solver.sot.push(robot.name + '.task.left-ankle')
-solver.sot.push(robot.name + '.task.left-wrist')
-solver.sot.push(robot.name + '.task.right-wrist')
+solver.sot.push(robot.tasks['right-ankle'].name)
+solver.sot.push(robot.tasks['left-ankle'].name)
+solver.sot.push(robot.tasks['right-wrist'].name)
+solver.sot.push(robot.tasks['left-wrist'].name)
# Center of mass
-solver.sot.push(robot.name + '.task.com')
+solver.sot.push(robot.comTask.name)
# Main.
# Main loop
diff --git a/unitTesting/python/reach_left_hand.py b/unitTesting/python/reach_left_hand.py
index 9410247..bbb8e0e 100755
--- a/unitTesting/python/reach_left_hand.py
+++ b/unitTesting/python/reach_left_hand.py
@@ -16,20 +16,20 @@
# dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
import sys
-from tools import *
+from dynamic_graph.sot.dynamics.tools import *
# Move left wrist
reach(robot, 'left-wrist', 0.25, 0, 0.1)
# Push tasks
# Operational points tasks
-solver.sot.push(robot.name + '.task.right-ankle')
-solver.sot.push(robot.name + '.task.left-ankle')
-solver.sot.push(robot.name + '.task.left-wrist')
-solver.sot.push(robot.name + '.task.right-wrist')
+solver.sot.push(robot.tasks['right-ankle'].name)
+solver.sot.push(robot.tasks['left-ankle'].name)
+solver.sot.push(robot.tasks['right-wrist'].name)
+solver.sot.push(robot.tasks['left-wrist'].name)
# Center of mass
-solver.sot.push(robot.name + '.task.com')
+solver.sot.push(robot.comTask.name)
# Main.
# Main loop
diff --git a/unitTesting/python/reach_right_hand.py b/unitTesting/python/reach_right_hand.py
index 834cef6..e6fb07f 100755
--- a/unitTesting/python/reach_right_hand.py
+++ b/unitTesting/python/reach_right_hand.py
@@ -15,20 +15,20 @@
# received a copy of the GNU Lesser General Public License along with
# dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
-from tools import *
+from dynamic_graph.sot.dynamics.tools import *
# Move right wrist
reach(robot, 'right-wrist', 0.25, 0, 0.1)
# Push tasks
# Operational points tasks
-solver.sot.push(robot.name + '.task.right-ankle')
-solver.sot.push(robot.name + '.task.left-ankle')
-solver.sot.push(robot.name + '.task.left-wrist')
-solver.sot.push(robot.name + '.task.right-wrist')
+solver.sot.push(robot.tasks['right-ankle'].name)
+solver.sot.push(robot.tasks['left-ankle'].name)
+solver.sot.push(robot.tasks['right-wrist'].name)
+solver.sot.push(robot.tasks['left-wrist'].name)
# Center of mass
-solver.sot.push(robot.name + '.task.com')
+solver.sot.push(robot.comTask.name)
# Main.
# Main loop
--
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