From 0c5cf1dccc2eb4d0bd974ec1893a4e4e742f0bbd Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Mon, 7 Nov 2011 15:20:06 +0100
Subject: [PATCH] Corrected a hard-coded 36 dim.
---
python/meta_tasks_dyn.py | 7 ++++++-
1 file changed, 6 insertions(+), 1 deletion(-)
diff --git a/python/meta_tasks_dyn.py b/python/meta_tasks_dyn.py
index 7ca43e3..de192ba 100644
--- a/python/meta_tasks_dyn.py
+++ b/python/meta_tasks_dyn.py
@@ -60,6 +60,7 @@ class MetaTaskDynPosture(object):
"larm": range(29,35), \
"lhand": [35], \
}
+ nbDof = None
def __init__(self,dyn,dt,name="posture"):
self.dyn=dyn
self.name=name
@@ -72,6 +73,7 @@ class MetaTaskDynPosture(object):
plug(dyn.position,self.feature.errorIN)
robotDim = len(dyn.position.value)
self.feature.jacobianIN.value = matrixToTuple( identity(robotDim) )
+# self.feature.setReference(self.featureDes.name)
self.feature.sdes.value = self.featureDes.name
self.task.add(self.feature.name)
@@ -92,7 +94,9 @@ class MetaTaskDynPosture(object):
def gotoq(self,gain=None,**kwargs):
act=list()
- qdes = zeros((36,1))
+ if MetaTaskDynPosture.nbDof==None:
+ MetaTaskDynPosture.nbDof = len(self.feature.errorIN.value)
+ qdes = zeros((MetaTaskDynPosture.nbDof,1))
for n,v in kwargs.items():
r = self.postureRange[n]
act += r
@@ -116,6 +120,7 @@ class MetaTaskDynCom(object):
plug(dyn.com,self.feature.errorIN)
plug(dyn.Jcom,self.feature.jacobianIN)
+# self.feature.setReference(self.featureDes.name)
self.feature.sdes.value = self.featureDes.name
self.task.add(self.feature.name)
--
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