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Fix init-ending overwrite #509

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Fix init-ending overwrite #509

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5589cd5
[hrpsys_ros_bridge_tutorials/euslisp] Call pre-defined :init-ending i…
snozawa Apr 18, 2017
ae6471b
[hrpsys_ros_bridge_tutorials/euslisp] Do not change argument of :init…
snozawa Apr 18, 2017
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7 changes: 4 additions & 3 deletions hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknt-utils.l
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Original file line number Diff line number Diff line change
Expand Up @@ -3,17 +3,18 @@

(unless (assoc :init-org (send hrp2jsknt-robot :methods))
(rplaca (assoc :init (send hrp2jsknt-robot :methods)) :init-org))
(unless (assoc :init-ending-org (send hrp2jsknt-robot :methods))
(rplaca (assoc :init-ending (send hrp2jsknt-robot :methods)) :init-ending-org))
(eval
`(defmethod hrp2jsknt-robot
,@(get-hrp2-with-hand-class-methods)))

(defmethod hrp2jsknt-robot
(:init-ending
(&rest args)
()
(prog1
(send-super* :init-ending args)
(send self :init-ending-org)
(send self :set-additional-end-coords)
(send self :define-min-max-table)
))
(:inverse-kinematics
(target-coords
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5 changes: 4 additions & 1 deletion hrpsys_ros_bridge_tutorials/euslisp/hrp4r-utils.l
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Original file line number Diff line number Diff line change
@@ -1,5 +1,8 @@
(require :hrp4r "package://hrpsys_ros_bridge_tutorials/models/hrp4r.l")

;; If you overwrite :init-ending in hrp4r.l, comment in the following:
;; (unless (assoc :init-ending-org (send hrp4r-robot :methods))
;; (rplaca (assoc :init-ending (send hrp4r-robot :methods)) :init-ending-org))
(defmethod hrp4r-robot
(:init-ending
()
Expand Down Expand Up @@ -39,4 +42,4 @@
))
)))
)
)
)
6 changes: 4 additions & 2 deletions hrpsys_ros_bridge_tutorials/euslisp/jaxon-utils.l
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@@ -1,11 +1,13 @@
(require :jaxon "package://hrpsys_ros_bridge_tutorials/models/jaxon.l")
(require :thkhand-utils "package://hrpsys_ros_bridge_tutorials/euslisp/thkhand-utils.l")

(unless (assoc :init-ending-org (send JAXON-robot :methods))
(rplaca (assoc :init-ending (send JAXON-robot :methods)) :init-ending-org))
(defmethod JAXON-robot
(:init-ending
(&rest args)
()
(prog1
(send-super* :init-ending args)
(send self :init-ending-org)
(send self :add-hoist-point-coords)
(send self :add-shin-cushion-parts)
(send self :add-shin-contact-coords)
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7 changes: 5 additions & 2 deletions hrpsys_ros_bridge_tutorials/euslisp/jaxon_red-utils.l
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Original file line number Diff line number Diff line change
@@ -1,11 +1,14 @@
(require :jaxon "package://hrpsys_ros_bridge_tutorials/models/jaxon_red.l")
(require :thkhand-utils "package://hrpsys_ros_bridge_tutorials/euslisp/thkhand-utils.l")

(unless (assoc :init-ending-org (send JAXON_RED-robot :methods))
(rplaca (assoc :init-ending (send JAXON_RED-robot :methods)) :init-ending-org))

(defmethod JAXON_RED-robot
(:init-ending
(&rest args)
()
(prog1
(send-super* :init-ending args)
(send self :init-ending-org)
(send self :add-hoist-point-coords)
(send self :add-shin-cushion-parts)
(send self :add-shin-contact-coords)
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6 changes: 4 additions & 2 deletions hrpsys_ros_bridge_tutorials/euslisp/staro-utils.l
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Original file line number Diff line number Diff line change
Expand Up @@ -61,11 +61,13 @@
)
)

(unless (assoc :init-ending-org (send STARO-robot :methods))
(rplaca (assoc :init-ending (send STARO-robot :methods)) :init-ending-org))
(defmethod STARO-robot
(:init-ending
(&rest args)
()
(prog1
(send-super* :init-ending args)
(send self :init-ending-org)
(send self :add-additional-body-parts)

;; add contact-end-coords to arms
Expand Down