From 1c2a04e2c8bbc701b8ad3c84eddb8e81d38b95fe Mon Sep 17 00:00:00 2001
From: pFernbach <pierre.fernbach@gmail.com>
Date: Thu, 18 Apr 2019 15:25:57 +0200
Subject: [PATCH] [python] add method computeEndEffectorConstantWaypoints to
API
---
python/bezier_com_traj.cpp | 11 +++++++++++
1 file changed, 11 insertions(+)
diff --git a/python/bezier_com_traj.cpp b/python/bezier_com_traj.cpp
index a04997f..8ef93be 100644
--- a/python/bezier_com_traj.cpp
+++ b/python/bezier_com_traj.cpp
@@ -403,6 +403,15 @@ MatrixVector* computeEndEffectorCostPython(const ProblemData& pData, const doubl
return res;
}
+Eigen::Matrix<real, Eigen::Dynamic, Eigen::Dynamic> computeEndEffectorConstantWaypoints(const ProblemData& pData, const double time){
+ std::vector<bezier_t::point_t> pi = computeConstantWaypoints(pData,time);
+ Eigen::Matrix<real, Eigen::Dynamic, Eigen::Dynamic> res (3, pi.size());
+ int col = 0;
+ for(std::vector<bezier_t::point_t>::const_iterator cit = pi.begin(); cit != pi.end(); ++cit, ++col)
+ res.block<3,1>(0,col) = *cit;
+ return res;
+ }
+
/** END end effector **/
@@ -525,6 +534,8 @@ BOOST_PYTHON_MODULE(hpp_bezier_com_traj)
def("computeEndEffector", &computeEndEffector, return_value_policy<manage_new_object>());
def("computeEndEffectorConstraints", &computeEndEffectorConstraintsPython, return_value_policy<manage_new_object>());
def("computeEndEffectorCost", &computeEndEffectorCostPython, return_value_policy<manage_new_object>());
+ def("computeEndEffectorConstantWaypoints", &computeEndEffectorConstantWaypoints);
+
}
--
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