From 082b7f785bc953ffa9e74e9d01215ff4735b1b9b Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Thu, 17 Jan 2013 16:13:27 +0100
Subject: [PATCH] Minor modifs in the meta tasks.
---
python/meta_task_dyn_6d.py | 30 +++++++++++++++---------------
python/meta_tasks_dyn.py | 9 ++++++---
2 files changed, 21 insertions(+), 18 deletions(-)
diff --git a/python/meta_task_dyn_6d.py b/python/meta_task_dyn_6d.py
index c429485..75b4e74 100644
--- a/python/meta_task_dyn_6d.py
+++ b/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)
diff --git a/python/meta_tasks_dyn.py b/python/meta_tasks_dyn.py
index 0893fbd..111d8e4 100644
--- a/python/meta_tasks_dyn.py
+++ b/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):
--
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