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[hrpsys_config.py] Backward compatibility for methods that take reference frame. #1063

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[hrpsys_config.py] Backward compatibility for methods that take reference frame. #1063

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42 changes: 32 additions & 10 deletions python/hrpsys_config.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1227,10 +1227,22 @@ def getCurrentPose(self, lname=None, frame_name=None):
eef_name = item[1][-1]
print("{}: {}".format(eef_name, self.getCurrentPose(eef_name)))
raise RuntimeError("need to specify joint name")
if frame_name:
lname = lname + ':' + frame_name
if StrictVersion(self.fk_version) < StrictVersion('315.2.5') and ':' in lname:
raise RuntimeError('frame_name ('+lname+') is not supported')
####
#### for hrpsys >= 315.2.5, frame_name is supported
#### default_frame_name is set, call with lname:default_frame_name
#### frame_name is given, call with lname:frame_name
#### frame_name is none, call with lname
#### for hrpsys <= 315.2.5, frame_name is not supported
#### frame_name is given, call with lname with warning / oerror
#### frame_name is none, call with lname
if StrictVersion(self.fk_version) >= StrictVersion('315.2.5'): ### CHANGED
if self.default_frame_name and frame_name is None:
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@130s 130s Nov 1, 2016

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#1063 (comment) でマージ可能と書いたのは確かに間違っています；default_frame_name が存在しないのでエラーになります．

frame_name = self.default_frame_name
if frame_name and not ':' in lname:
lname = lname + ':' + frame_name
else: # hrpsys < 315.2.4
if frame_name:
print('frame_name ('+lname+') is not supported') ### CHANGED
pose = self.fk_svc.getCurrentPose(lname)
if not pose[0]:
raise RuntimeError("Could not find reference : " + lname)
Expand Down Expand Up @@ -1327,10 +1339,14 @@ def getReferencePose(self, lname, frame_name=None):
eef_name = item[1][-1]
print("{}: {}".format(eef_name, self.getReferencePose(eef_name)))
raise RuntimeError("need to specify joint name")
if frame_name:
lname = lname + ':' + frame_name
if StrictVersion(self.fk_version) < StrictVersion('315.2.5') and ':' in lname:
raise RuntimeError('frame_name ('+lname+') is not supported')
if StrictVersion(self.fk_version) >= StrictVersion('315.2.5'): ### CHANGED
if self.default_frame_name and frame_name is None:
frame_name = self.default_frame_name
if frame_name and not ':' in lname:
lname = lname + ':' + frame_name
else: # hrpsys < 315.2.4
if frame_name:
print('frame_name ('+lname+') is not supported') ### CHANGED
pose = self.fk_svc.getReferencePose(lname)
if not pose[0]:
raise RuntimeError("Could not find reference : " + lname)
Expand Down Expand Up @@ -1413,8 +1429,14 @@ def setTargetPose(self, gname, pos, rpy, tm, frame_name=None):
@return bool: False if unreachable.
'''
print(gname, frame_name, pos, rpy, tm)
if frame_name:
gname = gname + ':' + frame_name
if StrictVersion(self.seq_version) >= StrictVersion('315.2.5'): ### CHANGED
if self.default_frame_name and frame_name is None:
frame_name = self.default_frame_name
if frame_name and not ':' in gname:
gname = gname + ':' + frame_name
else: # hrpsys < 315.2.4
if frame_name and not ':' in gname:
print('frame_name ('+gname+') is not supported') ### CHANGED
result = self.seq_svc.setTargetPose(gname, pos, rpy, tm)
if not result:
print("setTargetPose failed. Maybe SequencePlayer failed to solve IK.\n"
Expand Down