Topic/device urdfdom #136
Topic/device urdfdom #136
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End of the integration removal (remove stateSOUT) Add of force index Change the index of the control signal (defined by the yaml file with the key joint_names)
Add an example of yaml file config that can be use for the device (the same generated by the unitTest with the function CreateYAMLFILE()). Add two yaml files which reflect how the data are split in two in the sot, these ones are used by the unitTest. The control is set has constant = -0.5 for all joints in position; the device output a control signal respecting the position limits of the joints.
These signals are taken by the device accordingly to the types of the actuators (defined by the yaml file). Add their gains signals in entry for a future use. Signals are registered in the entity after the reading of the yaml file to register only the needed one.
src/tools/device.cpp
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| @@ -535,4 +535,4 @@ void Device::cmdDisplay() { | |||
| std::cout << name << ": " << state_ << endl | |||
| << "sanityCheck: " << sanityCheck_ << endl | |||
| << "controlInputType:" << controlInputType_ << endl; | |||
| } | |||
| } | |||
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Please avoid this type of modification that pollutes the history.
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This probably due to a trailing whitespace.
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No, this is due to a lack of newline at the end of file.
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Sorry I didn't see that I removed the last line I will correct it with the other remarks.
src/tools/robot-simu.cpp
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| @@ -36,4 +36,4 @@ RobotSimu::RobotSimu(const std::string &inName) : Device(inName) { | |||
| makeDirectSetter(*this, &this->timestep_, docstring)); | |||
| } | |||
| } // namespace sot | |||
| } // namespace dynamicgraph | |||
| } // namespace dynamicgraph | |||
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Please avoid this type of modification that pollutes the history.
tests/CMakeLists.txt
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| @@ -123,4 +131,4 @@ ENDFOREACH(path ${tests}) | |||
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| IF(BUILD_PYTHON_INTERFACE) | |||
| ADD_SUBDIRECTORY(python) | |||
| ENDIF(BUILD_PYTHON_INTERFACE) | |||
| ENDIF(BUILD_PYTHON_INTERFACE) | |||
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Please avoid this type of modification that pollutes the history.
CMakeLists.txt
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| @@ -167,11 +170,18 @@ SET(${PROJECT_NAME}_SOURCES | |||
| src/utils/stop-watch | |||
| ) | |||
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| IF (YAML_CPP_FOUND) | |||
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if yaml-cpp is required (and I think it should be), this IF is useless
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Yes I agree I will remove it.
tests/CMakeLists.txt
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| @@ -95,6 +95,14 @@ SET(tests | |||
| matrix/test_operator | |||
| ) | |||
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| IF (YAML_CPP_FOUND) | |||
tests/tools/test_generic_device.cpp
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| std::string robot_description; | ||
| ifstream urdfFile; | ||
| std::string filename = "/opt/openrobots/share/simple_humanoid_description/urdf/simple_humanoid.urdf"; |
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We should try to avoid such full paths. if you just copy-pasted that from the older device test, it's ok in this PR, otherwise we should implement a bit of CMake logic for this.
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It was not like this in the older device because we did not have to pass the urdf.
So yes it would be better to change the path.
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and save it in the internal sot based parameter-server.
This reverts commit e5b7857. Do not merge directly in master...
…r init_simple." This reverts commit 6093490.
This reverts commit c239120.
This is missing when compiling with clang on Mac OS Catalina. Moreover it seems needed anyway.
…terface. This avoid unnecessary target_include_directories.
Pointed out by G. Saurel and J. Mirabel.
Instance of the template is created in feature-pose. extern tag added in feature-pose.hh Update of test_feature_generic.
Make it internal to the implementation.
This reverts commit b54f6da.
This reverts commit d59eb72.
This reverts commit 468cac4.
This reverts commit f7cbede.
This reverts commit b052916.
This reverts commit fbbf38c.
This reverts commit 362af03.
…n feature-pose.hh" This reverts commit 9d9004a.
This reverts commit 9dbda56.
This reverts commit d7ccb2e.
This reverts commit 4a53404.
…s and interface." This reverts commit b62848e.
This reverts commit beeb05d.
Release of version 4.10.0.
Use CMAKE path to find the urdf
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I have taken into account the comments (tell me if I forgot something). |
Add a generic device in sot-core without the integrator and using the YAML config files.
WARNING: Do not have the state signal anymore !
Currently I have some trouble with the python tests files so it is a draft PR.