[Python] Make toFlags deprecated.

Author: jmirabel

src/dynamic_graph/sot/core/meta_task_6d.py

@@ -7,20 +7,9 @@
 
 
 def toFlags(arr):
-    """
-    Convert an array of boolean to a /flag/ format, type 001010110,
-    in little indian
-    (reverse order, first bool of the list will be the [01] of extrem right).
-    """
-    lres = [0] * (max(arr) + 1)
-    for i in arr:
-        lres[i] = 1
-    lres.reverse()
-    res = ''
-    for i in lres:
-        res += str(i)
-    return Flags(res)
-
+    from warnings import warn
+    warn("This function is deprecated. Please, use Flags directly.")
+    return Flags(arr)
 
 class MetaTask6d(object):
     name = ''

src/dynamic_graph/sot/core/meta_task_posture.py

@@ -2,7 +2,7 @@
 from dynamic_graph.sot.core.feature_generic import FeatureGeneric
 from dynamic_graph.sot.core.gain_adaptive import GainAdaptive
 from dynamic_graph.sot.core.matrix_util import matrixToTuple, vectorToTuple
-from dynamic_graph.sot.core.meta_task_6d import toFlags
+from dynamic_graph.sot.core.meta_task_6d import toFlags # kept for backward compatibility
 from dynamic_graph.sot.core.meta_tasks import setGain
 from dynamic_graph.sot.core.sot import Task
 from numpy import identity, matrix, zeros
@@ -67,17 +67,19 @@ def gotoq(self, gain=None, qdes=None, **kwargs):
                 MetaTaskPosture.nbDof = len(self.feature.errorIN.value)
             qdes = zeros((MetaTaskPosture.nbDof, 1))
 
+        act = [ False, ] * MetaTaskPosture.nbDof
         for limbName, jointValues in kwargs.items():
             limbRange = self.postureRange[limbName]
-            act += limbRange
+            for i in limbRange:
+                act[i] = True
             if jointValues != []:
                 if isinstance(jointValues, matrix):
                     qdes[limbRange, 0] = vectorToTuple(jointValues)
                 else:
                     qdes[limbRange, 0] = jointValues
         self.ref = vectorToTuple(qdes)
         if len(act) > 0:
-            self.feature.selec.value = toFlags(act)
+            self.feature.selec.value = Flags(act)
         setGain(self.gain, gain)
 
 

src/dynamic_graph/sot/core/meta_tasks.py

@@ -5,7 +5,7 @@
 from dynamic_graph.sot.core.feature_generic import FeatureGeneric
 from dynamic_graph.sot.core.gain_adaptive import GainAdaptive
 from dynamic_graph.sot.core.matrix_util import matrixToTuple, rpy2tr
-from dynamic_graph.sot.core.meta_task_6d import toFlags
+from dynamic_graph.sot.core.meta_task_6d import toFlags # kept for backward compatibility
 
 
 class MetaTaskCom(object):
@@ -79,10 +79,9 @@ def goto6d(task, position, gain=None, resetJacobian=True):
 def gotoNd(task, position, selec=None, gain=None, resetJacobian=True):
     M = generic6dReference(position)
     if selec is not None:
-        if isinstance(selec, str):
-            task.feature.selec.value = Flags(selec)
-        else:
-            task.feature.selec.value = toFlags(selec)
+        if not isinstance(selec, Flags):
+            selec = Flags(selec)
+        task.feature.selec.value = selec
     task.featureDes.position.value = array(M)
     setGain(task.gain, gain)
     if 'resetJacobianDerivative' in task.task.__class__.__dict__.keys() and resetJacobian:

src/dynamic_graph/sot/core/meta_tasks_kine_relative.py

@@ -2,7 +2,7 @@
 from dynamic_graph.sot.core import Flags
 from dynamic_graph.sot.core.feature_point6d_relative import FeaturePoint6dRelative
 from dynamic_graph.sot.core.matrix_util import matrixToTuple
-from dynamic_graph.sot.core.meta_task_6d import MetaTask6d, toFlags
+from dynamic_graph.sot.core.meta_task_6d import MetaTask6d, toFlags # kept for backward compatibility
 from dynamic_graph.sot.core.meta_tasks import generic6dReference, setGain
 from dynamic_graph.sot.core.op_point_modifier import OpPointModifier
 
@@ -94,10 +94,9 @@ def gotoNdRel(task, position, positionRef, selec=None, gain=None, resetJacobian=
     M = generic6dReference(position)
     MRef = generic6dReference(positionRef)
     if selec is not None:
-        if isinstance(selec, str):
-            task.feature.selec.value = selec
-        else:
-            task.feature.selec.value = toFlags(selec)
+        if not isinstance(selec, Flags):
+            selec = Flags(selec)
+        task.feature.selec.value = selec
     task.featureDes.position.value = matrixToTuple(M)
     task.featureDes.positionRef.value = matrixToTuple(MRef)
     setGain(task.gain, gain)