Commit a05ab318 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

include pinocchio before boost

ref https://github.com/stack-of-tasks/pinocchio/issues/849
parent a0a30682
...@@ -11,13 +11,13 @@ ...@@ -11,13 +11,13 @@
* *
*/ */
#include "sot-talos-controller.hh"
#include <sot/core/debug.hh> #include <sot/core/debug.hh>
#include <sot/core/exception-abstract.hh> #include <sot/core/exception-abstract.hh>
#include <dynamic_graph_bridge/ros_init.hh> #include <dynamic_graph_bridge/ros_init.hh>
#include <dynamic_graph_bridge/ros_interpreter.hh> #include <dynamic_graph_bridge/ros_interpreter.hh>
#include "sot-talos-controller.hh"
#include <boost/thread/thread.hpp> #include <boost/thread/thread.hpp>
#include <boost/thread/condition.hpp> #include <boost/thread/condition.hpp>
......
...@@ -11,6 +11,8 @@ ...@@ -11,6 +11,8 @@
#ifndef _SOT_TalosController_H_ #ifndef _SOT_TalosController_H_
#define _SOT_TalosController_H_ #define _SOT_TalosController_H_
#include <pinocchio/fwd.hpp>
#include <dynamic-graph/entity.h> #include <dynamic-graph/entity.h>
#include <dynamic-graph/signal.h> #include <dynamic-graph/signal.h>
#include <dynamic-graph/signal-ptr.h> #include <dynamic-graph/signal-ptr.h>
...@@ -22,13 +24,13 @@ ...@@ -22,13 +24,13 @@
#include <dynamic_graph_bridge/ros_interpreter.hh> #include <dynamic_graph_bridge/ros_interpreter.hh>
namespace dgsot=dynamicgraph::sot; namespace dgsot=dynamicgraph::sot;
class SoTTalosController: public class SoTTalosController: public
dgsot::AbstractSotExternalInterface dgsot::AbstractSotExternalInterface
{ {
public: public:
static const std::string LOG_PYTHON; static const std::string LOG_PYTHON;
SoTTalosController(); SoTTalosController();
SoTTalosController(const char robotName[]); SoTTalosController(const char robotName[]);
SoTTalosController(std::string robotName); SoTTalosController(std::string robotName);
...@@ -56,13 +58,13 @@ class SoTTalosController: public ...@@ -56,13 +58,13 @@ class SoTTalosController: public
// dynamic graph. // dynamic graph.
void updateRobotState(std::vector<double> &anglesIn); void updateRobotState(std::vector<double> &anglesIn);
/// Run a python command /// Run a python command
void runPython(std::ostream& file, void runPython(std::ostream& file,
const std::string& command, const std::string& command,
dynamicgraph::Interpreter& interpreter); dynamicgraph::Interpreter& interpreter);
virtual void startupPython(); virtual void startupPython();
void init(); void init();
SoTTalosDevice* device_; SoTTalosDevice* device_;
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment