From fccc47712c2060ef1242cca3db50ae1d4619554b Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Wed, 26 Sep 2012 15:37:06 +0200
Subject: [PATCH] Remove obsolete hrp2.py file
This file is now defined by package sot-hrp2.
---
src/CMakeLists.txt | 6 -
src/dynamic_graph/sot/dynamics/hrp2.py.in | 190 ----------------------
2 files changed, 196 deletions(-)
delete mode 100755 src/dynamic_graph/sot/dynamics/hrp2.py.in
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 2a30117..dab55e3 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -78,12 +78,6 @@ INSTALL(FILES
)
IF(HRP2_DYNAMICS_FOUND)
- CONFIG_FILES(dynamic_graph/sot/dynamics/hrp2.py)
- INSTALL(FILES
- ${CMAKE_CURRENT_BINARY_DIR}/dynamic_graph/sot/dynamics/hrp2.py
- DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot/dynamics
- )
-
PKG_CONFIG_USE_DEPENDENCY(dynamic-hrp2 hrp2-dynamics)
ENDIF(HRP2_DYNAMICS_FOUND)
diff --git a/src/dynamic_graph/sot/dynamics/hrp2.py.in b/src/dynamic_graph/sot/dynamics/hrp2.py.in
deleted file mode 100755
index 1e1103c..0000000
--- a/src/dynamic_graph/sot/dynamics/hrp2.py.in
+++ /dev/null
@@ -1,190 +0,0 @@
-# -*- coding: utf-8 -*-
-# Copyright 2011, Florent Lamiraux, Thomas Moulard, JRL, CNRS/AIST
-#
-# This file is part of dynamic-graph.
-# dynamic-graph is free software: you can redistribute it and/or
-# modify it under the terms of the GNU Lesser General Public License
-# as published by the Free Software Foundation, either version 3 of
-# the License, or (at your option) any later version.
-#
-# dynamic-graph is distributed in the hope that it will be useful, but
-# WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-# General Lesser Public License for more details. You should have
-# received a copy of the GNU Lesser General Public License along with
-# dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
-
-import numpy as np
-from dynamic_graph.sot import SE3, R3, SO3
-from dynamic_graph.sot.core import FeatureGeneric, FeatureJointLimits, Task, \
- Constraint, GainAdaptive, SOT
-from dynamic_graph.sot.dynamics import AngleEstimator
-from dynamic_graph import enableTrace, plug
-from dynamic_graph.sot.se3 import R3, SO3, SE3
-
-from dynamic_graph.sot.dynamics.dynamic_hrp2 import DynamicHrp2
-from dynamic_graph.sot.dynamics.dynamic_hrp2_10 import DynamicHrp2_10
-
-from dynamic_graph.sot.dynamics.humanoid_robot import AbstractHumanoidRobot
-
-
-hrp2_10_pkgdatarootdir = "@HRP2_10_PKGDATAROOTDIR@"
-hrp2_14_pkgdatarootdir = "@HRP2_14_PKGDATAROOTDIR@"
-
-# Internal helper tool.
-def matrixToTuple(M):
- tmp = M.tolist()
- res = []
- for i in tmp:
- res.append(tuple(i))
- return tuple(res)
-
-
-class Hrp2(AbstractHumanoidRobot):
- """
- This class instanciates a Hrp2 robot
- """
- forceSensorInLeftAnkle = ((1.,0.,0.,0.),
- (0.,1.,0.,0.),
- (0.,0.,1.,-0.105),
- (0.,0.,0.,1.))
- forceSensorInRightAnkle = ((1.,0.,0.,0.),
- (0.,1.,0.,0.),
- (0.,0.,1.,-0.105),
- (0.,0.,0.,1.))
- def smallToFull(self, config):
- res = (config + 10*(0.,))
- return res
-
- def __init__(self, name, modelDir, xmlDir, device, dynamicType,
- tracer = None):
- AbstractHumanoidRobot.__init__ (self, name, tracer)
-
- self.OperationalPoints.append('waist')
- self.device = device
- modelName = 'HRP2JRLmainsmall.wrl'
- specificitiesPath = xmlDir + '/HRP2SpecificitiesSmall.xml'
- jointRankPath = xmlDir + '/HRP2LinkJointRankSmall.xml'
-
- self.dynamic = self.loadModelFromJrlDynamics(
- self.name + '_dynamic',
- modelDir,
- modelName,
- specificitiesPath,
- jointRankPath,
- dynamicType)
-
- self.dimension = self.dynamic.getDimension()
- if self.dimension != len(self.halfSitting):
- raise RuntimeError("invalid half-sitting pose")
- self.initializeRobot()
-
-class Hrp2Jrl (Hrp2):
- """
- This class instanciates LAAS Hrp2 robot
- """
- halfSitting = (
- # Free flyer
- 0., 0., 0.648702, 0., 0. , 0.,
-
- # Legs
- 0., 0., -0.453786, 0.872665, -0.418879, 0.,
- 0., 0., -0.453786, 0.872665, -0.418879, 0.,
-
- # Chest and head
- 0., 0., 0., 0.,
-
- # Arms
- 0.261799, -0.17453, 0., -0.523599, 0., 0., 0.1, 0.261799,
- 0.261799, 0.17453, 0., -0.523599, 0., 0., 0.1, 0.261799,
- )
-
- def __init__(self, name,
- modelDir = hrp2_10_pkgdatarootdir,
- xmlDir = hrp2_10_pkgdatarootdir,
- device = None,
- tracer = None):
- Hrp2.__init__(self, name, modelDir, xmlDir, device, DynamicHrp2_10,
- tracer)
-
-class Hrp2Laas (Hrp2):
- """
- This class instanciates LAAS Hrp2 robot
- """
- halfSitting = (
- # Free flyer
- 0., 0., 0.648702, 0., 0. , 0.,
-
- # Legs
- 0., 0., -0.453786, 0.872665, -0.418879, 0.,
- 0., 0., -0.453786, 0.872665, -0.418879, 0.,
-
- # Chest and head
- 0., 0., 0., 0.,
-
- # Arms
- 0.261799, -0.17453, 0., -0.523599, 0., 0., 0.1,
- 0.261799, 0.17453, 0., -0.523599, 0., 0., 0.1,
- )
-
- def __init__(self, name,
- modelDir = hrp2_14_pkgdatarootdir,
- xmlDir = hrp2_14_pkgdatarootdir,
- device = None,
- tracer = None):
-
- # Define camera positions w.r.t gaze.
-
- # These positions have been copied from hrp2.geom and
- # roughly checked. Do not trust them too much.
- cameraBottomLeftPosition = np.matrix((
- (0.98481, 0.00000, 0.17365, 0.035),
- (0., 1., 0., 0.072),
- (-0.17365, 0.00000, 0.98481, 0.075 - 0.03),
- (0., 0., 0., 1.),
- ))
- cameraBottomRightPosition = np.matrix((
- (0.98481, 0.00000, 0.17365, 0.035),
- (0., 1., 0., -0.072),
- (-0.17365, 0.00000, 0.98481, 0.075 - 0.03),
- (0., 0., 0., 1.),
- ))
- cameraTopLeftPosition = np.matrix((
- (0.99920, 0.00120, 0.03997, 0.01),
- (0.00000, 0.99955,-0.03000, 0.029),
- (-0.03999, 0.02997, 0.99875, 0.145 - 0.03),
- (0., 0., 0., 1.),
- ))
- cameraTopRightPosition = np.matrix((
- (0.99920, 0.00000, 0.03999, 0.01),
- (0.00000, 1.00000, 0.00000, -0.029),
- (-0.03999, 0.00000, 0.99920, 0.145 - 0.03),
- (0., 0., 0., 1.),
- ))
-
- # Frames re-orientation:
- # Z = depth (increase from near to far)
- # X = increase from left to right
- # Y = increase from top to bottom
- c1_M_c = np.matrix(
- [[ 0., 0., 1., 0.],
- [-1., 0., 0., 0.],
- [ 0., -1., 0., 0.],
- [ 0., 0., 0., 1.]])
-
- self.AdditionalFrames.append(
- ("cameraBottomLeft",
- matrixToTuple(c1_M_c * cameraBottomLeftPosition), "gaze"))
- self.AdditionalFrames.append(
- ("cameraBottomRight",
- matrixToTuple(c1_M_c * cameraBottomRightPosition), "gaze"))
- self.AdditionalFrames.append(
- ("cameraTopLeft",
- matrixToTuple(c1_M_c * cameraTopLeftPosition), "gaze"))
- self.AdditionalFrames.append(
- ("cameraTopRight",
- matrixToTuple(c1_M_c * cameraTopRightPosition), "gaze"))
-
- Hrp2.__init__(self, name, modelDir, xmlDir, device, DynamicHrp2, tracer)
-
-__all__ = [Hrp2, Hrp2Jrl, Hrp2Laas]
--
GitLab