Commit 360af801 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

remove LGPL headers

parent a05ab318
# Copyright 2016, R. Budhiraja, Olivier Stasse, CNRS # Copyright 2016, R. Budhiraja, Olivier Stasse, CNRS
#
# This file is part of sot-talos.
# sot-talos is free software: you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public License
# as published by the Free Software Foundation, either version 3 of
# the License, or (at your option) any later version.
#
# sot-talos is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# General Lesser Public License for more details. You should have
# received a copy of the GNU Lesser General Public License along with
# sot-talos. If not, see <http://www.gnu.org/licenses/>.
INCLUDE(../cmake/python.cmake) INCLUDE(../cmake/python.cmake)
FINDPYTHON() FINDPYTHON()
...@@ -50,7 +37,7 @@ PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "__init__.py" ) ...@@ -50,7 +37,7 @@ PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "__init__.py" )
PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "talos.py" ) PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "talos.py" )
SET(FILES __init__.py robot.py) SET(FILES __init__.py robot.py)
# Install dynamic_graph.sot.pyrene # Install dynamic_graph.sot.pyrene
SET(PYTHON_MODULE dynamic_graph/sot/pyrene) SET(PYTHON_MODULE dynamic_graph/sot/pyrene)
PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "__init__.py" ) PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "__init__.py" )
PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "robot.py" "${PYTHON_SITELIB}") PYTHON_INSTALL_ON_SITE("${PYTHON_MODULE}" "robot.py" "${PYTHON_SITELIB}")
...@@ -112,7 +99,7 @@ MACRO(build_talos_controller) ...@@ -112,7 +99,7 @@ MACRO(build_talos_controller)
TARGET_LINK_LIBRARIES(${CONTROLLER_NAME} "sot-talos-device") TARGET_LINK_LIBRARIES(${CONTROLLER_NAME} "sot-talos-device")
TARGET_LINK_LIBRARIES(${CONTROLLER_NAME} "ros_bridge") TARGET_LINK_LIBRARIES(${CONTROLLER_NAME} "ros_bridge")
TARGET_LINK_LIBRARIES(${CONTROLLER_NAME} "ros_interpreter") TARGET_LINK_LIBRARIES(${CONTROLLER_NAME} "ros_interpreter")
IF(UNIX AND NOT APPLE) IF(UNIX AND NOT APPLE)
TARGET_LINK_LIBRARIES(${CONTROLLER_NAME} ${Boost_LIBRARIES}) TARGET_LINK_LIBRARIES(${CONTROLLER_NAME} ${Boost_LIBRARIES})
ENDIF(UNIX AND NOT APPLE) ENDIF(UNIX AND NOT APPLE)
......
# -*- coding: utf-8 -*- # -*- coding: utf-8 -*-
# Copyright 2011, Florent Lamiraux, Thomas Moulard, JRL, CNRS/AIST # Copyright 2011, Florent Lamiraux, Thomas Moulard, JRL, CNRS/AIST
#
# This file is part of dynamic-graph.
# dynamic-graph is free software: you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public License
# as published by the Free Software Foundation, either version 3 of
# the License, or (at your option) any later version.
#
# dynamic-graph is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# General Lesser Public License for more details. You should have
# received a copy of the GNU Lesser General Public License along with
# dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
print("Prologue Pyrene TALOS Robot") print("Prologue Pyrene TALOS Robot")
from dynamic_graph.entity import PyEntityFactoryClass from dynamic_graph.entity import PyEntityFactoryClass
......
# -*- coding: utf-8 -*- # -*- coding: utf-8 -*-
# Copyright 2016, Olivier Stasse, CNRS # Copyright 2016, Olivier Stasse, CNRS
#
# This file is part of sot-talos.
# sot-talos is free software: you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public License
# as published by the Free Software Foundation, either version 3 of
# the License, or (at your option) any later version.
#
# sot-talos is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# General Lesser Public License for more details. You should have
# received a copy of the GNU Lesser General Public License along with
# sot-talos. If not, see <http://www.gnu.org/licenses/>.
from dynamic_graph.sot.talos import Talos from dynamic_graph.sot.talos import Talos
...@@ -64,7 +51,7 @@ class Robot (Talos): ...@@ -64,7 +51,7 @@ class Robot (Talos):
(-0.03999, 0.00000, 0.99920, 0.145 - 0.03), (-0.03999, 0.00000, 0.99920, 0.145 - 0.03),
(0., 0., 0., 1.), (0., 0., 0., 1.),
)) ))
# Frames re-orientation: # Frames re-orientation:
# Z = depth (increase from near to far) # Z = depth (increase from near to far)
# X = increase from left to right # X = increase from left to right
# Y = increase from top to bottom # Y = increase from top to bottom
...@@ -74,7 +61,7 @@ class Robot (Talos): ...@@ -74,7 +61,7 @@ class Robot (Talos):
[-1., 0., 0., 0.], [-1., 0., 0., 0.],
[ 0., -1., 0., 0.], [ 0., -1., 0., 0.],
[ 0., 0., 0., 1.]]) [ 0., 0., 0., 1.]])
for camera in [cameraBottomLeftPosition, cameraBottomRightPosition, for camera in [cameraBottomLeftPosition, cameraBottomRightPosition,
cameraTopLeftPosition, cameraTopRightPosition]: cameraTopLeftPosition, cameraTopRightPosition]:
camera[:] = camera * c1_M_c camera[:] = camera * c1_M_c
......
# -*- coding: utf-8 -*- # -*- coding: utf-8 -*-
# Copyright 2012, CNRS-LAAS, Florent Lamiraux # Copyright 2012, CNRS-LAAS, Florent Lamiraux
#
# This file is part of sot-hrp2.
# sot-hrp2 is free software: you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public License
# as published by the Free Software Foundation, either version 3 of
# the License, or (at your option) any later version.
#
# sot-hrp2 is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# General Lesser Public License for more details. You should have
# received a copy of the GNU Lesser General Public License along with
# sot-hrp2. If not, see <http://www.gnu.org/licenses/>.
import numpy as np import numpy as np
from math import sqrt from math import sqrt
......
# -*- coding: utf-8 -*- # -*- coding: utf-8 -*-
# Copyright 2016, Olivier Stasse CNRS # Copyright 2016, Olivier Stasse CNRS
#
# This file is part of TALOSController.
# TALOSController is free software: you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public License
# as published by the Free Software Foundation, either version 3 of
# the License, or (at your option) any later version.
#
# TALOSController is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# General Lesser Public License for more details. You should have
# received a copy of the GNU Lesser General Public License along with
# TALOSController. If not, see <http://www.gnu.org/licenses/>.
from __future__ import print_function from __future__ import print_function
from dynamic_graph.sot.talos.talos import Talos from dynamic_graph.sot.talos.talos import Talos
# -*- coding: utf-8 -*- # -*- coding: utf-8 -*-
# Copyright 2016, Olivier STASSE, LAAS-CNRS # Copyright 2016, Olivier STASSE, LAAS-CNRS
#
# This file is part of TALOSController.
# TALOSController is free software: you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public License
# as published by the Free Software Foundation, either version 3 of
# the License, or (at your option) any later version.
#
# TALOSController is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# General Lesser Public License for more details. You should have
# received a copy of the GNU Lesser General Public License along with
# TALOSController. If not, see <http://www.gnu.org/licenses/>.
from __future__ import print_function from __future__ import print_function
...@@ -97,7 +84,7 @@ class Talos(AbstractHumanoidRobot): ...@@ -97,7 +84,7 @@ class Talos(AbstractHumanoidRobot):
self.OperationalPoints.append('waist') self.OperationalPoints.append('waist')
self.OperationalPoints.append('chest') self.OperationalPoints.append('chest')
# Create rigid body dynamics model and data (pinocchio) # Create rigid body dynamics model and data (pinocchio)
self.dynamic = DynamicPinocchio(self.name + "_dynamic") self.dynamic = DynamicPinocchio(self.name + "_dynamic")
self.dynamic.setModel(self.pinocchioModel) self.dynamic.setModel(self.pinocchioModel)
self.dynamic.setData(self.pinocchioData) self.dynamic.setData(self.pinocchioData)
...@@ -129,7 +116,7 @@ class Talos(AbstractHumanoidRobot): ...@@ -129,7 +116,7 @@ class Talos(AbstractHumanoidRobot):
self.AdditionalFrames.append( self.AdditionalFrames.append(
("rightFootForceSensor", ("rightFootForceSensor",
self.forceSensorInRightAnkle, self.OperationalPointsMap["right-ankle"])) self.forceSensorInRightAnkle, self.OperationalPointsMap["right-ankle"]))
self.dimension = self.dynamic.getDimension() self.dimension = self.dynamic.getDimension()
self.plugVelocityFromDevice = True self.plugVelocityFromDevice = True
self.dynamic.displayModel() self.dynamic.displayModel()
...@@ -143,7 +130,7 @@ class Talos(AbstractHumanoidRobot): ...@@ -143,7 +130,7 @@ class Talos(AbstractHumanoidRobot):
else: else:
self.dynamic.velocity.value = self.dimension*(0.,) self.dynamic.velocity.value = self.dimension*(0.,)
# Initialize acceleration derivator if chosen # Initialize acceleration derivator if chosen
if self.enableAccelerationDerivator: if self.enableAccelerationDerivator:
self.accelerationDerivator = \ self.accelerationDerivator = \
Derivator_of_Vector('accelerationDerivator') Derivator_of_Vector('accelerationDerivator')
......
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