def createTask(self,selec,diag,gain,sampleInterval):
self.task = TaskJointWeights(self.name)
self.task.setSize(self.robot.dimension)
self.task.selec.value = selec
if(diag):
self.task.setWeights(diag)
else:
self.dyn.signal('inertia').recompute(0)
plug(self.dyn.signal('inertia'),self.task.signal('weights'))
self.task.controlGain.value = gain
self.task.setSampleInterval(sampleInterval)
class MetaTaskJointWeights(object):
name=''
dyn=0
robot=0
task=0
def createTask(self,selec,diag,gain,sampleInterval):
self.task = TaskJointWeights(self.name)
self.task.setSize(self.robot.dimension)
self.task.selec.value = selec
if(diag):
self.task.setWeights(diag)
else:
self.dyn.signal('inertia').recompute(0)
plug(self.dyn.signal('inertia'),self.task.signal('weights'))
self.task.controlGain.value = gain
self.task.setSampleInterval(sampleInterval)
def __init__(self,name,selec,robot,diag=None,gain=1000,sampleInterval=0):
self.name = name
self.dyn = robot.dynamic
self.robot = robot
self.createTask(selec,diag,gain,sampleInterval)