[hrpsys_ros_bridge_tutorials/euslisp] Call pre-defined :init-ending i…

…n overwritten :init-ending (start-jsk#508).
snozawa · Apr 18, 2017 · 5589cd5 · 5589cd5
1 parent cfd0b27
commit 5589cd5
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Showing 5 changed files with 17 additions and 6 deletions.
diff --git a/hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknt-utils.l b/hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknt-utils.l
@@ -3,6 +3,8 @@
 
 (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)))
@@ -11,9 +13,8 @@
   (: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

diff --git a/hrpsys_ros_bridge_tutorials/euslisp/hrp4r-utils.l b/hrpsys_ros_bridge_tutorials/euslisp/hrp4r-utils.l
@@ -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
    ()
@@ -39,4 +42,4 @@
              ))
          )))
    )
-  )
+  )
diff --git a/hrpsys_ros_bridge_tutorials/euslisp/jaxon-utils.l b/hrpsys_ros_bridge_tutorials/euslisp/jaxon-utils.l
@@ -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)

diff --git a/hrpsys_ros_bridge_tutorials/euslisp/jaxon_red-utils.l b/hrpsys_ros_bridge_tutorials/euslisp/jaxon_red-utils.l
@@ -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)

diff --git a/hrpsys_ros_bridge_tutorials/euslisp/staro-utils.l b/hrpsys_ros_bridge_tutorials/euslisp/staro-utils.l
@@ -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