Minor modifs in the meta tasks.

python/meta_task_dyn_6d.py

@@ -21,20 +21,20 @@ class MetaTaskDyn6d(MetaTask6d):
     
     def __init__(self,*args):
         MetaTask6d.__init__(self,*args)
-        self.opPointModif = OpPointModifier('opmodif'+self.name)
-        plug(self.dyn.signal(self.opPoint),self.opPointModif.signal('positionIN'))
-        plug(self.dyn.signal('J'+self.opPoint),self.opPointModif.signal('jacobianIN'))
-        self.opPointModif.activ = False
+#        self.opPointModif = OpPointModifier('opmodif'+self.name)
+#        plug(self.dyn.signal(self.opPoint),self.opPointModif.signal('positionIN'))
+#        plug(self.dyn.signal('J'+self.opPoint),self.opPointModif.signal('jacobianIN'))
+#        self.opPointModif.activ = False
 
-    @property
-    def opmodif(self):
-        if not self.opPointModif.activ: return False
-        else: return self.opPointModif.getTransformation()
+#    @property
+#    def opmodif(self):
+#        if not self.opPointModif.activ: return False
+#        else: return self.opPointModif.getTransformation()
 
-    @opmodif.setter
-    def opmodif(self,m):
-        if not self.opPointModif.activ:
-            plug(self.opPointModif.signal('position'),self.feature.position )
-            plug(self.opPointModif.signal('jacobian'),self.feature.Jq)
-            self.opPointModif.activ = True
-        self.opPointModif.setTransformation(m)
+#    @opmodif.setter
+#    def opmodif(self,m):
+#        if not self.opPointModif.activ:
+#            plug(self.opPointModif.signal('position'),self.feature.position )
+#            plug(self.opPointModif.signal('jacobian'),self.feature.Jq)
+#            self.opPointModif.activ = True
+#        self.opPointModif.setTransformation(m)

python/meta_tasks_dyn.py

@@ -8,7 +8,10 @@ from numpy import matrix, identity, zeros, eye
 
 def setGain(gain,val):
     if val!=None:
-        if isinstance(val,int) or len(val)==1:  gain.setConstant(val)
+        if isinstance(val,int) or isinstance(val,float):
+            gain.setConstant(val)
+        if len(val)==1:
+            gain.setConstant(val[0])
         elif len(val)==3: gain.set( val[0],val[1],val[2])
         elif len(val)==4: gain.setByPoint( val[0],val[1],val[2],val[3])
 
@@ -22,7 +25,7 @@ def goto6d(task,position,gain=None):
     task.featureDes.position.value = matrixToTuple(M)
     task.task.resetJacobianDerivative()
 
-def gotoNd(task,position,selec,gain=None):
+def gotoNd(task,position,selec,gain=None,resetJacobian=True):
     M=eye(4)
     if isinstance(position,matrix): position = vectorToTuple(position)
     if( len(position)==3 ): M[0:3,3] = position
@@ -30,7 +33,7 @@ def gotoNd(task,position,selec,gain=None):
     if isinstance(selec,str):   task.feature.selec.value = selec
     else: task.feature.selec.value = toFlags(selec)
     task.featureDes.position.value = matrixToTuple(M)
-    task.task.resetJacobianDerivative()
+    if resetJacobian: task.task.resetJacobianDerivative()
     setGain(task.gain,gain)
 
 def addContactFromMetaTask(sot,contact,task=None):