From 344d45a9c63c867ac092870062f16e43b48f767c Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Mon, 7 Nov 2011 16:53:11 +0100
Subject: [PATCH] Accounting for the modifs in sot-core/feature.
---
python/meta_task_dyn_6d.py | 2 +-
python/meta_tasks_dyn.py | 6 ++----
src/feature-projected-line.cpp | 21 ---------------------
src/feature-projected-line.h | 4 ++--
4 files changed, 5 insertions(+), 28 deletions(-)
diff --git a/python/meta_task_dyn_6d.py b/python/meta_task_dyn_6d.py
index 070c73b..c429485 100644
--- a/python/meta_task_dyn_6d.py
+++ b/python/meta_task_dyn_6d.py
@@ -11,7 +11,7 @@ class MetaTaskDyn6d(MetaTask6d):
self.gain = GainAdaptive('gain'+self.name)
self.gain.set(1050,45,125e3)
def plugEverything(self):
- self.feature.sdes.value = self.featureDes.name
+ self.feature.setReference(self.featureDes.name)
plug(self.dyn.signal(self.opPoint),self.feature.signal('position'))
plug(self.dyn.signal('J'+self.opPoint),self.feature.signal('Jq'))
self.task.add(self.feature.name)
diff --git a/python/meta_tasks_dyn.py b/python/meta_tasks_dyn.py
index de192ba..0893fbd 100644
--- a/python/meta_tasks_dyn.py
+++ b/python/meta_tasks_dyn.py
@@ -73,8 +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.feature.setReference(self.featureDes.name)
self.task.add(self.feature.name)
plug(dyn.velocity,self.task.qdot)
@@ -120,8 +119,7 @@ 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.feature.setReference(self.featureDes.name)
self.task.add(self.feature.name)
plug(dyn.velocity,self.task.qdot)
diff --git a/src/feature-projected-line.cpp b/src/feature-projected-line.cpp
index 09f8aa5..5bc9289 100644
--- a/src/feature-projected-line.cpp
+++ b/src/feature-projected-line.cpp
@@ -53,7 +53,6 @@ namespace dynamicgraph
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
-
FeatureProjectedLine::
FeatureProjectedLine( const std::string& pointName )
: FeatureAbstract( pointName )
@@ -74,12 +73,9 @@ namespace dynamicgraph
errorSOUT.addDependency( xbSIN );
errorSOUT.addDependency( xcSIN );
- activationSOUT.removeDependency( desiredValueSIN );
-
signalRegistration( xaSIN << xbSIN << xcSIN << JaSIN << JbSIN );
}
-
/* --------------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
@@ -117,17 +113,6 @@ namespace dynamicgraph
& dya=JA(1,i),& dyb=JB(1,i);
J(0,i) = dxa*(yb-yc) - dxb*(ya-yc) - dya*(xb-xc) + dyb*(xa-xc);
}
- // J.resize(3,nq);
- // for( int i=0;i<nq;++i )
- // {
- // const double
- // & dxa=JA(0,i),& dxb=JB(0,i),
- // & dya=JA(1,i),& dyb=JB(1,i),
- // & dza=JA(2,i),& dzb=JB(2,i);
- // J(0,i) = dxa;
- // J(1,i) = dya;
- // J(2,i) = dza;
- // }
sotDEBUGOUT(15);
return J;
@@ -150,12 +135,6 @@ namespace dynamicgraph
error.resize(1);
error(0) = (xb-xa)*(yc-ya)-(yb-ya)*(xc-xa);
- // error.resize(3);
- // error(0) = xa-xc;
- // error(1) = ya-yc;
- // error(2) = A(2,3) - C(2);
- //std::cout << time << " " << ya << " " << yc << std::endl;
-
sotDEBUGOUT(15);
return error ;
}
diff --git a/src/feature-projected-line.h b/src/feature-projected-line.h
index 2ddd9a8..f83dfa5 100644
--- a/src/feature-projected-line.h
+++ b/src/feature-projected-line.h
@@ -72,15 +72,15 @@ namespace dynamicgraph {
DECLARE_SIGNAL_IN(Jb,ml::Matrix);
DECLARE_SIGNAL_IN(xc,ml::Vector);
+ DECLARE_NO_REFERENCE;
+
public:
FeatureProjectedLine( const std::string& name );
virtual ~FeatureProjectedLine( void ) {}
virtual unsigned int& getDimension( unsigned int & dim, int time );
-
virtual ml::Vector& computeError( ml::Vector& res,int time );
virtual ml::Matrix& computeJacobian( ml::Matrix& res,int time );
- virtual ml::Vector& computeActivation( ml::Vector& res,int) {return res;}
virtual void display( std::ostream& os ) const;
--
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