Changes between Version 17 and Version 18 of Tutorials

Timestamp:

Mar 9, 2016, 2:26:19 PM (10 years ago)

Author:

fma

Comment:

--

Tutorials

@@ -191 +191 @@
 #!python
 
-    for gaitName in settings.GAITS:
-        legsIndexGroups = settings.GAIT_LEGS_GROUPS[gaitName]
-        gaitParams = settings.GAIT_PARAMS[gaitName]
-        gait = GaitFactory().create(gaitName, legsIndexGroups, gaitParams)
+    def addGait(gaitClass, gaitName):
+        gait = gaitClass(gaitName, settings.GAIT_LEGS_GROUPS[gaitName], settings.GAIT_PARAMS[gaitName])
         GaitManager().add(gait)
+
+    addGait(GaitTripod, "tripod")
+    addGait(GaitTetrapod, "tetrapod")
+    addGait(GaitRiple, "riple")
+    addGait(GaitWave, "metachronal")
+    addGait(GaitWave, "wave")
 }}}
 
@@ -203 +207 @@
 #!python
 
-# Gaits definitions
-GAITS = ("tripod", "tetrapod", "riple", "metachronal", "wave")
-
+# Gaits
 GAIT_LEGS_GROUPS = {
     'tripod':      (('RM', 'LF', 'LR'), ('RF', 'LM', 'RR')),