from dynamic_graph.sot.curves import Bezier, Timeline
b = Bezier('b')
tl = Timeline('tl')
b.controlPoints.value = ((0,0),(0,1),(1,1))
tl.timeMax.value = 1
tl.setState('start')
for i,t in enumerate(range(11)):
b.t.value = t/10.0
b.t.time = i
b.state.recompute(i)
tl.dummy.recompute(i)
print t, b.state.value, tl.scaledTime.value, tl.scaledTime.time
from dynamic_graph.sot.curves import Bezier, Timeline, Spline
from dynamic_graph import plug
bezier = Bezier('bezier')
timeline = Timeline('timeline')
spline = Spline('spline')
bezier.controlPoints.value = ((0,0), (10,20))
plug(spline.out, bezier.t)
plug(timeline.scaledTime, spline.input)
timeline.timeMax.value = 100
from dynamic_graph.sot.dynamics.hrp2 import Hrp2Laas, Hrp2Jrl
from dynamic_graph.sot.dynamics.solver import Solver
robot = Hrp2Laas("robot")
solver = Solver(robot)
robot.device.before.addSignal('timeline.dummy')
robot.device.before.addSignal('bezier.state')
robot.device.zmp.value = (0.,0.,0.)
s = ['left-ankle', 'right-ankle']
for i in s:
robot.dynamic.signal(i).recompute(robot.dynamic.signal(i).time + 1)
robot.features[i].reference.value = robot.dynamic.signal(i).value
robot.features[i]._feature.selec.value = '111111'
robot.tasks[i].controlGain.value = 180.