def __init__(self,space1,space2):
assert isinstance(space1,StanceCSpace)
assert isinstance(space2,StanceCSpace)
if len(space1.holds) > len(space2.holds):
space1,space2 = space2,space1
self.space1,self.space2 = space1,space2
ClosedLoopRobotCSpace.__init__(self,space1.robot,[h.ikConstraint for h in space2.holds],space2.collider)
self.addFeasibilityTest(space1.testSupportPolygon,"suppPoly")
def __init__(self, space1, space2):
assert isinstance(space1, StanceCSpace)
assert isinstance(space2, StanceCSpace)
if len(space1.holds) > len(space2.holds):
space1, space2 = space2, space1
self.space1, self.space2 = space1, space2
ClosedLoopRobotCSpace.__init__(self, space1.robot,
[h.ikConstraint for h in space2.holds],
space2.collider)
self.addFeasibilityTest(space1.testSupportPolygon, "suppPoly")
def __init__(self,robot,holds,collider=None,world=None,checkTorqueLimits=False):
if collider is None and world is not None:
ignoreCollisions = [robot.link(h.link) for h in holds]
collider = collide.WorldCollider(world,ignore=ignoreCollisions)
ClosedLoopRobotCSpace.__init__(self,robot,[h.ikConstraint for h in holds],collider)
self.holds = holds
self.gravity = (0,0,-9.8)
sp = contact.supportPolygon(holds)
#print "Support polygon",sp
self.sp = sp
self.equilibriumMargin = 0.0
self.addFeasibilityTest(self.testSupportPolygon,"suppPoly")
if checkTorqueLimits:
raise NotImplementedError("Torque limit testing")
def __init__(self,
robot,
holds,
collider=None,
world=None,
checkTorqueLimits=False):
if collider is None and world is not None:
ignoreCollisions = [robot.link(h.link) for h in holds]
collider = collide.WorldCollider(world, ignore=ignoreCollisions)
ClosedLoopRobotCSpace.__init__(self, robot,
[h.ikConstraint for h in holds],
collider)
self.holds = holds
self.gravity = (0, 0, -9.8)
sp = contact.supportPolygon(holds)
#print "Support polygon",sp
self.sp = sp
self.equilibriumMargin = 0.0
self.addFeasibilityTest(self.testSupportPolygon, "suppPoly")
if checkTorqueLimits:
raise NotImplementedError("Torque limit testing")