From 7d55c5c7b45b7e417efb52719d38719ce9ebe5dc Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Mon, 7 Nov 2011 17:15:09 +0100
Subject: [PATCH] Accounting for the new feature.sdes.
---
python/mocap/slide.py | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/python/mocap/slide.py b/python/mocap/slide.py
index 2895be7..55fd05c 100644
--- a/python/mocap/slide.py
+++ b/python/mocap/slide.py
@@ -186,7 +186,7 @@ taskCom = MetaTaskDynCom(dyn,dt)
featurePosture = FeatureGeneric('featurePosture')
featurePostureDes = FeatureGeneric('featurePostureDes')
plug(dyn.position,featurePosture.errorIN)
-featurePosture.sdes.value = featurePostureDes.name
+featurePosture.setReference(featurePostureDes.name)
featurePosture.jacobianIN.value = matrixToTuple( identity(robotDim) )
taskPosture = TaskDynPD('taskPosture')
@@ -349,7 +349,7 @@ taskHead.featureDes.position.value = matrixToTuple(eye(4))
sot.push(taskLim.name)
sot.push(taskHead.task.name)
plug(robot.state,sot.position)
-
+
# --- Events ---------------------------------------------
sigset = ( lambda s,v : s.__class__.value.__set__(s,v) )
refset = ( lambda mt,v : mt.__class__.ref.__set__(mt,v) )
--
GitLab