From f4c08686b088e65731d099411577a93080ca9a4d Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Fri, 24 Aug 2012 11:11:55 +0200
Subject: [PATCH] Use Task instead of TaskPD.
---
src/dynamic_graph/sot/dynamics/humanoid_robot.py | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/src/dynamic_graph/sot/dynamics/humanoid_robot.py b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
index b4d1a0d..d721b3a 100755
--- a/src/dynamic_graph/sot/dynamics/humanoid_robot.py
+++ b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
@@ -23,7 +23,7 @@ from dynamic_graph.sot.core import OpPointModifier
from dynamic_graph.sot.core.derivator import Derivator_of_Vector
from dynamic_graph.sot.core.feature_position import FeaturePosition
from dynamic_graph.sot.core import RobotSimu, FeatureGeneric, \
- FeatureJointLimits, TaskPD, Constraint, GainAdaptive, SOT
+ FeatureJointLimits, Task, Constraint, GainAdaptive, SOT
from dynamic_graph.sot.dynamics.parser import Parser
from dynamic_graph.sot.dynamics import AngleEstimator
@@ -249,7 +249,7 @@ class AbstractHumanoidRobot (object):
featureComDes = FeatureGeneric(featureDesName)
featureComDes.errorIN.value = self.dynamic.com.value
featureCom.setReference(featureComDes.name)
- comTask = TaskPD(taskName)
+ comTask = Task(taskName)
comTask.add(featureName)
comTask.controlGain.value = gain
return (featureCom, featureComDes, comTask)
@@ -267,7 +267,7 @@ class AbstractHumanoidRobot (object):
self.dynamic.signal(operationalPointName),
self.dynamic.signal(jacobianName),
self.dynamic.signal(operationalPointName).value)
- task = TaskPD(taskName)
+ task = Task(taskName)
task.add(featureName)
task.controlGain.value = gain
return (feature, task)
--
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