From a43fb2d9d1053fe0299cd347f6a342899de87e2b Mon Sep 17 00:00:00 2001
From: pFernbach <pierre.fernbach@gmail.com>
Date: Sat, 26 Jan 2019 16:03:30 +0100
Subject: [PATCH] Add ComputeEndEffector to python API
---
python/bezier_com_traj.cpp | 21 +++++++++++++++++++++
1 file changed, 21 insertions(+)
diff --git a/python/bezier_com_traj.cpp b/python/bezier_com_traj.cpp
index f1597d3..f73f47b 100644
--- a/python/bezier_com_traj.cpp
+++ b/python/bezier_com_traj.cpp
@@ -1,5 +1,6 @@
#include "hpp/bezier-com-traj/solve.hh"
#include "hpp/bezier-com-traj/solver/solver-abstract.hpp"
+#include "hpp/bezier-com-traj/solve_end_effector.hh"
#include <eigenpy/memory.hpp>
#include <eigenpy/eigenpy.hpp>
@@ -358,6 +359,25 @@ ResultDataCOMTraj* computeCOMTrajPointerChooseSolver(const ProblemData& pData, c
/** END computeCOMTraj **/
+/** BEGIN end effector **/
+
+struct DummyPath{
+
+ point3_t operator()(double /*u*/)const{
+ return point3_t::Zero();
+ }
+
+};
+
+
+ResultDataCOMTraj* computeEndEffector(const ProblemData& pData, const double time){
+
+ ResultDataCOMTraj res =solveEndEffector<DummyPath>(pData,DummyPath(),time, 0);
+ return new ResultDataCOMTraj(res);
+}
+
+/** END end effector **/
+
BOOST_PYTHON_MODULE(hpp_bezier_com_traj)
{
@@ -467,6 +487,7 @@ BOOST_PYTHON_MODULE(hpp_bezier_com_traj)
def("zeroStepCapturability", &zeroStepCapturabilityWithKinConstraints, return_value_policy<manage_new_object>());
def("computeCOMTraj", &computeCOMTrajPointer, return_value_policy<manage_new_object>());
def("computeCOMTraj", &computeCOMTrajPointerChooseSolver, return_value_policy<manage_new_object>());
+ def("computeEndEffector", &computeEndEffector, return_value_policy<manage_new_object>());
}
--
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