From adfa18cf00c153767fbd0cbd8d911c4b805e388f Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Mon, 28 Nov 2011 13:58:36 +0100
Subject: [PATCH] Accounting for the modif in the sdes branch of sot-core.
---
python/dyndebug.py | 2 +-
python/kinedebug.py | 6 +++---
2 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/python/dyndebug.py b/python/dyndebug.py
index 2f2d179..6c5efaf 100644
--- a/python/dyndebug.py
+++ b/python/dyndebug.py
@@ -140,7 +140,7 @@ featureCom = FeatureGeneric('featureCom')
featureComDes = FeatureGeneric('featureComDes')
plug(dyn.com,featureCom.errorIN)
plug(dyn.Jcom,featureCom.jacobianIN)
-featureCom.sdes.value = 'featureComDes'
+featureCom.setReference('featureComDes')
featureComDes.errorIN.value = (0.0478408688115,-0.0620357207995,0.684865189311)
taskCom = TaskDynPD('taskCom')
diff --git a/python/kinedebug.py b/python/kinedebug.py
index 8615a48..b7aa915 100644
--- a/python/kinedebug.py
+++ b/python/kinedebug.py
@@ -125,7 +125,7 @@ class MetaTaskKine6d( MetaTask6d ):
self.gain = GainAdaptive('gain'+self.name)
self.gain.set(0.1,0.1,125e3)
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)
@@ -152,7 +152,7 @@ featureCom = FeatureGeneric('featureCom')
featureComDes = FeatureGeneric('featureComDes')
plug(dyn.com,featureCom.errorIN)
plug(dyn.Jcom,featureCom.jacobianIN)
-featureCom.sdes.value = 'featureComDes'
+featureCom.setReference('featureComDes')
featureComDes.errorIN.value = (0.0478408688115,-0.0620357207995,0.684865189311)
taskCom = Task('taskCom')
@@ -179,7 +179,7 @@ taskSupport.dt.value=dt
featurePosture = FeatureGeneric('featurePosture')
featurePostureDes = FeatureGeneric('featurePostureDes')
plug(dyn.position,featurePosture.errorIN)
-featurePosture.sdes.value = 'featurePostureDes'
+featurePosture.setReference('featurePostureDes')
featurePosture.jacobianIN.value = totuple( identity(robotDim) )
featurePostureDes.errorIN.value = dyn.position.value
--
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