From 9e152c55e26c5662337e6a492b98ee84277bd207 Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Thu, 17 Jan 2013 16:14:11 +0100
Subject: [PATCH] Added the task weight in the python init file.
---
src/dynamic_graph/sot/dyninv/__init__.py | 39 +++++-------------------
1 file changed, 8 insertions(+), 31 deletions(-)
diff --git a/src/dynamic_graph/sot/dyninv/__init__.py b/src/dynamic_graph/sot/dyninv/__init__.py
index f2e8fb7..5db8d55 100755
--- a/src/dynamic_graph/sot/dyninv/__init__.py
+++ b/src/dynamic_graph/sot/dyninv/__init__.py
@@ -1,47 +1,24 @@
from controller_pd import ControllerPD
-ControllerPD('')
-
from task_dyn_pd import TaskDynPD
-TaskDynPD('')
-
from task_dyn_inequality import TaskDynInequality
-TaskDynInequality('')
-
from dynamic_integrator import DynamicIntegrator
-DynamicIntegrator('')
-
from pseudo_robot_dynamic import PseudoRobotDynamic
-PseudoRobotDynamic('')
-
from solver_op_space import SolverOpSpace
-SolverOpSpace('')
from solver_dyn_reduced import SolverDynReduced
-SolverDynReduced('')
-
-from solver_kine import SolverKine
-SolverKine('')
-
from zmp_estimator import ZmpEstimator
-ZmpEstimator('')
-
from robot_dyn_simu import RobotDynSimu
-RobotDynSimu('')
-
from task_dyn_joint_limits import TaskDynJointLimits
-TaskDynJointLimits('')
-
from task_dyn_limits import TaskDynLimits
-TaskDynLimits('')
-
from task_joint_limits import TaskJointLimits
-TaskJointLimits('')
-
from task_inequality import TaskInequality
-TaskInequality('')
-
from feature_projected_line import FeatureProjectedLine
-FeatureProjectedLine('')
-
from contact_selecter import ContactSelecter
-ContactSelecter('')
+from task_weight import TaskWeight
+
+
+from solver_kine import SolverKine
+def sot_addContact( sot,metaTask ):
+ metaTask.keep()
+ sot.push(metaTask.task.name)
+setattr(SolverKine,'addContact',sot_addContact)
--
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