Commit dd98270d authored by jcarpent's avatar jcarpent
Browse files

[Incremental][Python] Expose computeAllTerms algorithm

parent 7e3b6474
......@@ -14,6 +14,8 @@
#include "pinocchio/algorithm/jacobian.hpp"
#include "pinocchio/algorithm/center-of-mass.hpp"
#include "pinocchio/simulation/compute-all-terms.hpp"
namespace se3
{
namespace python
......@@ -84,6 +86,14 @@ namespace se3
geometry(*model,*data,q);
}
static void computeAllTerms_proxy(const ModelHandler & model,
DataHandler & data,
const VectorXd_fx & q,
const VectorXd_fx & v)
{
computeAllTerms(*model,*data,q,v);
}
/* --- Expose --------------------------------------------------------- */
......@@ -130,6 +140,13 @@ namespace se3
"Compute the placements of all the frames of the kinematic "
"tree and put the results in data.");
bp::def("geometry",computeAllTerms_proxy,
bp::args("Model","Data",
"Configuration q (size Model::nq)",
"Velocity v (size Model::nv)"),
"Compute all the terms M, non linear effects and Jacobians in"
"in the same loop and put the results in data.");
bp::def("jacobian",jacobian_proxy,
bp::args("Model","Data",
"Configuration q (size Model::nq)",
......
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