placo 0.9.6__tar.gz → 0.9.8__tar.gz

{placo-0.9.6 → placo-0.9.8}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: placo
-Version: 0.9.6
+Version: 0.9.8
 Summary: PlaCo: Rhoban Planning and Control
 Requires-Python: >= 3.9
 License-Expression: MIT
@@ -16,7 +16,7 @@ Requires-Dist: meshcat
 Requires-Dist: ischedule
 Provides-Extra: build
 Requires-Dist: pin[build] ==  3.7.0 ; extra == "build"
-Requires-Dist: doxystub >= 0.0.13 ; extra == "build"
+Requires-Dist: doxystub >= 0.1.7 ; extra == "build"
 Requires-Dist: cmake<4 ; extra == "build"
 Description-Content-Type: text/markdown
 

{placo-0.9.6 → placo-0.9.8}/bindings/expose-walk-pattern-generator.cpp

@@ -196,6 +196,9 @@ void exposeWalkPatternGenerator()
       .def_readwrite("trunk_pitch", &DummyWalk::trunk_pitch)
       .def_readwrite("support_left", &DummyWalk::support_left)
       .def_readwrite("lift_height", &DummyWalk::lift_height)
+      .def_readonly("dx", &DummyWalk::dx)
+      .def_readonly("dy", &DummyWalk::dy)
+      .def_readonly("dtheta", &DummyWalk::dtheta)
       .add_property("T_world_left", make_getter(&DummyWalk::T_world_left, return_value_policy<return_by_value>()),
                     make_setter(&DummyWalk::T_world_left))
       .add_property("T_world_right", make_getter(&DummyWalk::T_world_right, return_value_policy<return_by_value>()),

{placo-0.9.6 → placo-0.9.8}/pyproject.toml

@@ -5,7 +5,7 @@ requires = [
   "eiquadprog >= 1.2.6, < 2",
   "pin[build] ==  3.7.0",
   "rhoban-cmeel-jsoncpp",
-  "doxystub >= 0.0.13",
+  "doxystub >= 0.1.7",
   "cmake<4"
 ]
 
@@ -23,7 +23,7 @@ description = "PlaCo: Rhoban Planning and Control"
 license = "MIT"
 name = "placo"
 requires-python = ">= 3.9"
-version = "0.9.6"
+version = "0.9.8"
 
 [project.urls]
 changelog = "https://github.com/rhoban/placo/blob/main/CHANGELOG.md"

{placo-0.9.6 → placo-0.9.8}/src/placo/humanoid/dummy_walk.cpp

@@ -87,7 +87,8 @@ void DummyWalk::update(double t)
 void DummyWalk::update_T_world_support(Eigen::Affine3d T_world_support)
 {
   Eigen::Affine3d T_world_currentSupport = support_left ? T_world_left : T_world_right;
-  Eigen::Affine3d T = tools::flatten_on_floor(T_world_support * T_world_currentSupport.inverse());
+  Eigen::Affine3d T =
+      tools::flatten_on_floor(T_world_support) * tools::flatten_on_floor(T_world_currentSupport.inverse());
 
   T_world_left = tools::flatten_on_floor(T * T_world_left);
   T_world_right = tools::flatten_on_floor(T * T_world_right);
@@ -104,8 +105,12 @@ void DummyWalk::update_T_world_support(Eigen::Affine3d T_world_support)
   robot.update_kinematics();
 }
 
-void DummyWalk::compute_next_support(double dx, double dy, double dtheta)
+void DummyWalk::compute_next_support(double dx_, double dy_, double dtheta_)
 {
+  dx = dx_;
+  dy = dy_;
+  dtheta = dtheta_;
+
   double spacing = support_left ? -feet_spacing : feet_spacing;
   T_world_next = support_left ? T_world_left : T_world_right;
   T_world_next = T_world_next * translation(dx, spacing + dy, 0) * Eigen::AngleAxisd(dtheta, Eigen::Vector3d::UnitZ());

{placo-0.9.6 → placo-0.9.8}/src/placo/humanoid/dummy_walk.h

@@ -102,6 +102,21 @@ public:
   kinematics::FrameTask right_foot_task;
   kinematics::FrameTask trunk_task;
 
+  /**
+   * @brief Last requested step dx
+   */
+  double dx = 0.0;
+
+  /**
+   * @brief Last requested step d-
+   */
+  double dy = 0.0;
+
+  /**
+   * @brief Last requested step dtheta
+   */
+  double dtheta = 0.0;
+
 protected:
   void compute_next_support(double dx, double dy, double dtheta);
   Eigen::Affine3d translation(double x, double y, double z) const;