From 54b3226a825f8e5a42870fc8676656d765f3a951 Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Tue, 27 Sep 2011 13:43:00 +0200
Subject: [PATCH] Minor change in the task update.
---
python/meta_tasks_dyn.py | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/python/meta_tasks_dyn.py b/python/meta_tasks_dyn.py
index 56e4685..7ca43e3 100644
--- a/python/meta_tasks_dyn.py
+++ b/python/meta_tasks_dyn.py
@@ -8,7 +8,7 @@ from numpy import matrix, identity, zeros, eye
def setGain(gain,val):
if val!=None:
- if len(val)==1: gain.setConstant(val)
+ if isinstance(val,int) or len(val)==1: gain.setConstant(val)
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])
@@ -20,6 +20,7 @@ def goto6d(task,position,gain=None):
task.feature.selec.value = "111111"
setGain(task.gain,gain)
task.featureDes.position.value = matrixToTuple(M)
+ task.task.resetJacobianDerivative()
def gotoNd(task,position,selec,gain=None):
M=eye(4)
@@ -29,6 +30,7 @@ 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()
setGain(task.gain,gain)
def addContactFromMetaTask(sot,contact,task=None):
--
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