Fix projectToComPosition

[pFernbach]

Update relative to changes in hpp-constraints.

[stonneau]

Ok so I guess I had not tested it. Would you mind adding a unit test to test the projection, with HyQ ? This should be easy using the code here: https://github.com/humanoid-path-planner/hpp-rbprm/blob/rbprm_v_1/tests/tools-fullbody.hh

[stonneau]

Also, is the setting of the computation flags necessary at this point ?

[pFernbach]

Ok so I guess I had not tested it. Would you mind adding a unit test to test the projection, with HyQ ?

Done, and I fixed some mistakes in tools-fullbody.hh

Also, is the setting of the computation flags necessary at this point ?

No, I removed them after some testing.

[pFernbach]

I still have two issues with this part of the code. See https://github.com/humanoid-path-planner/hpp-rbprm/issues/8 for the first one.

For the second : the ProjectionReporthave a member status_ which is an enum with the following values :

• no_contact
• unstable_contact
• stable_contact
• reachable_contact

For some projection (including projectToComPosition) the equilibrium is not tested and this enum always have the value "no_contact". I think we should add a value "unknown".

[stonneau]

hmm, the projection is successful ? In this case maybe no_contact should be renamed failure, and we can add a success value?

[pFernbach]

Sorry I wasn't clear enough : ProjectionReport have a member success and status. But most of the projection method which return a ProjectionReport ( except generate_contact) never change the field status and leave it at it's default value : no_contact

[stonneau]

ok sorry I got it after looking at the code. Maybe in this case status should just be contactstatus ?

[stonneau]

I merge the PR since the problem mentioned is just a refactoring issue