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stack-of-tasks / sot-dynamic

jrl-dynamics bindings for dynamic-graph
GNU Lesser General Public License v3.0
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Pre-defined name of the operational points. #2

Closed francois-keith closed 11 years ago

francois-keith commented 11 years ago

Hello all,

In the script humanoid.py, some operational points are predefined

    OperationalPoints = ['left-wrist', 'right-wrist',
                         'left-ankle', 'right-ankle',
                         'gaze']

Using dashes in the name of the signals prevents calling them directly in python:

robot.dynamics.left-wrist

will return an error, rather than display the value of the homogeneous matrix. I regret the loss of this functionality. Wouldn't it be better to use underscores instead?

Regards

François

florent-lamiraux commented 11 years ago

Hello François,

For each of these names, a member is created in the robot class according to the following pattern: left-wrist -> leftWrist right-ankle -> rightAnkle gaze -> gaze.

Florent