From c730b610fe65ea63127f1138dbc4ec25ac5e129a Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Fri, 15 Apr 2011 15:57:25 +0200
Subject: [PATCH] Rename.
---
python/dyndebug.py | 2 +-
python/meta_task_dyn_6d.py | 20 ++++++++++++++++++++
2 files changed, 21 insertions(+), 1 deletion(-)
create mode 100644 python/meta_task_dyn_6d.py
diff --git a/python/dyndebug.py b/python/dyndebug.py
index ebe1095..acb6d49 100644
--- a/python/dyndebug.py
+++ b/python/dyndebug.py
@@ -6,7 +6,7 @@ from dynamic_graph.sot.dyninv import *
import dynamic_graph.script_shortcuts
from dynamic_graph.script_shortcuts import optionalparentheses
from dynamic_graph.matlab import matlab
-from MetaTask6d import MetaTaskDyn6d
+from meta_task_dyn_6d import MetaTaskDyn6d
from robotSpecific import pkgDataRootDir,modelName,robotDimension,initialConfig,gearRatio,inertiaRotor
robotName = 'hrp10small'
diff --git a/python/meta_task_dyn_6d.py b/python/meta_task_dyn_6d.py
new file mode 100644
index 0000000..44e55f5
--- /dev/null
+++ b/python/meta_task_dyn_6d.py
@@ -0,0 +1,20 @@
+from dynamic_graph import plug
+from dynamic_graph.sot.core import GainAdaptive
+from dynamic_graph.sot.dyninv import TaskDynPD
+from dynamic_graph.sot.core.meta_task_6d import MetaTask6d
+
+class MetaTaskDyn6d(MetaTask6d):
+ def createTask(self):
+ self.task = TaskDynPD('task'+self.name)
+ self.task.dt.value = 1e-3
+ def createGain(self):
+ self.gain = GainAdaptive('gain'+self.name)
+ self.gain.set(1050,45,125e3)
+ def plugEverything(self):
+ self.feature.sdes.value = 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)
+ plug(self.dyn.velocity,self.task.qdot)
+ plug(self.task.error,self.gain.error)
+ plug(self.gain.gain,self.task.controlGain)
--
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