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Stack Of Tasks
sot-hrp2
Commits
125c59f0
Commit
125c59f0
authored
Apr 30, 2015
by
Andrea Del Prete
Browse files
Merge branch 'master' of github.com:stack-of-tasks/sot-hrp2
parents
42aac480
9a28f18f
Changes
3
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CMakeLists.txt
View file @
125c59f0
...
...
@@ -42,11 +42,11 @@ ADD_REQUIRED_DEPENDENCY("jrl-mathtools")
ADD_REQUIRED_DEPENDENCY
(
"jrl-mal >= 1.9.0"
)
ADD_REQUIRED_DEPENDENCY
(
"jrl-dynamics >= 1.19.0"
)
ADD_
REQUIRED
_DEPENDENCY
(
"hrp2-dynamics >= 1.5.0"
)
ADD_
REQUIRED
_DEPENDENCY
(
"hrp2-10-optimized >= 1.0.1"
)
ADD_
OPTIONAL
_DEPENDENCY
(
"hrp2-dynamics >= 1.5.0"
)
ADD_
OPTIONAL
_DEPENDENCY
(
"hrp2-10-optimized >= 1.0.1"
)
ADD_
REQUIRED
_DEPENDENCY
(
"hrp2-10 >= 1.0.1-10"
)
ADD_
REQUIRED
_DEPENDENCY
(
"hrp2-14 >= 1.8-6"
)
ADD_
OPTIONAL
_DEPENDENCY
(
"hrp2-10 >= 1.0.1-10"
)
ADD_
OPTIONAL
_DEPENDENCY
(
"hrp2-14 >= 1.8-6"
)
ADD_REQUIRED_DEPENDENCY
(
"dynamic-graph"
)
ADD_REQUIRED_DEPENDENCY
(
"sot-core"
)
...
...
src/CMakeLists.txt
View file @
125c59f0
...
...
@@ -41,14 +41,23 @@ FUNCTION(COMPILE_PLUGIN NAME SOURCES ENTITIES)
ENDFUNCTION
()
# Compile plug-ins.
COMPILE_PLUGIN
(
dynamic-hrp2_14 dynamic-hrp2_14.cc DynamicHrp2_14
)
PKG_CONFIG_USE_DEPENDENCY
(
dynamic-hrp2_14 hrp2-dynamics
)
IF
(
hrp2-dynamics_FOUND
)
COMPILE_PLUGIN
(
dynamic-hrp2_14 dynamic-hrp2_14.cc DynamicHrp2_14
)
PKG_CONFIG_USE_DEPENDENCY
(
dynamic-hrp2_14 hrp2-dynamics
)
ENDIF
()
COMPILE_PLUGIN
(
dynamic-hrp2_10 dynamic-hrp2_10.cc DynamicHrp2_10
)
PKG_CONFIG_USE_DEPENDENCY
(
dynamic-hrp2_10 hrp2-10-optimized
)
IF
(
hrp2-10-optimized_FOUND
)
COMPILE_PLUGIN
(
dynamic-hrp2_10 dynamic-hrp2_10.cc DynamicHrp2_10
)
PKG_CONFIG_USE_DEPENDENCY
(
dynamic-hrp2_10 hrp2-10-optimized
)
ENDIF
()
CONFIG_FILES
(
dynamic_graph/sot/hrp2_10/robot.py
)
CONFIG_FILES
(
dynamic_graph/sot/hrp2_14/robot.py
)
IF
(
hrp2-10-optimized_FOUND
)
CONFIG_FILES
(
dynamic_graph/sot/hrp2_10/robot.py
)
ENDIF
()
IF
(
hrp2-dynamics_FOUND
)
CONFIG_FILES
(
dynamic_graph/sot/hrp2_14/robot.py
)
ENDIF
()
# Install Python files.
SET
(
PYTHON_MODULE_DIR
...
...
@@ -62,16 +71,20 @@ PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "hrp2.py" )
SET
(
FILES __init__.py robot.py
)
# Install dynamic_graph.sot.hrp2_14
SET
(
PYTHON_MODULE dynamic_graph/sot/hrp2_14
)
PYTHON_INSTALL_ON_SITE
(
"
${
PYTHON_MODULE
}
"
"__init__.py"
)
PYTHON_INSTALL_BUILD
(
"
${
PYTHON_MODULE
}
"
"robot.py"
"
${
PYTHON_SITELIB
}
"
)
PYTHON_INSTALL_ON_SITE
(
"
${
PYTHON_MODULE
}
"
"prologue.py"
)
IF
(
hrp2-dynamics_FOUND
)
SET
(
PYTHON_MODULE dynamic_graph/sot/hrp2_14
)
PYTHON_INSTALL_ON_SITE
(
"
${
PYTHON_MODULE
}
"
"__init__.py"
)
PYTHON_INSTALL_BUILD
(
"
${
PYTHON_MODULE
}
"
"robot.py"
"
${
PYTHON_SITELIB
}
"
)
PYTHON_INSTALL_ON_SITE
(
"
${
PYTHON_MODULE
}
"
"prologue.py"
)
ENDIF
()
# Install dynamic_graph.sot.hrp2_10
SET
(
PYTHON_MODULE dynamic_graph/sot/hrp2_10
)
PYTHON_INSTALL_ON_SITE
(
"
${
PYTHON_MODULE
}
"
"__init__.py"
)
PYTHON_INSTALL_BUILD
(
"
${
PYTHON_MODULE
}
"
"robot.py"
"
${
PYTHON_SITELIB
}
"
)
PYTHON_INSTALL_ON_SITE
(
"
${
PYTHON_MODULE
}
"
"prologue.py"
)
IF
(
hrp2-10-optimized_FOUND
)
SET
(
PYTHON_MODULE dynamic_graph/sot/hrp2_10
)
PYTHON_INSTALL_ON_SITE
(
"
${
PYTHON_MODULE
}
"
"__init__.py"
)
PYTHON_INSTALL_BUILD
(
"
${
PYTHON_MODULE
}
"
"robot.py"
"
${
PYTHON_SITELIB
}
"
)
PYTHON_INSTALL_ON_SITE
(
"
${
PYTHON_MODULE
}
"
"prologue.py"
)
ENDIF
()
# Add the library to wrap the device of HRP2.
MACRO
(
build_hrp2_device
)
...
...
@@ -136,6 +149,11 @@ MACRO(build_hrp2_controller robotnumber)
ENDMACRO
()
build_hrp2_controller
(
"10"
)
build_hrp2_controller
(
"14"
)
IF
(
hrp2-10-optimized_FOUND
)
build_hrp2_controller
(
"10"
)
ENDIF
()
IF
(
hrp2-dynamics_FOUND
)
build_hrp2_controller
(
"14"
)
ENDIF
()
src/dynamic_graph/sot/hrp2/hrp2.py
View file @
125c59f0
...
...
@@ -101,6 +101,9 @@ class Hrp2(AbstractHumanoidRobot):
dynamicType
)
self
.
dimension
=
self
.
dynamic
.
getDimension
()
self
.
plugVelocityFromDevice
=
True
if
self
.
dimension
!=
len
(
self
.
halfSitting
):
raise
RuntimeError
(
"Dimension of half-sitting: {0} differs from dimension of robot: {1}"
.
format
(
len
(
self
.
halfSitting
),
self
.
dimension
))
self
.
initializeRobot
()
...
...
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