From dc6e1bcc14071a263887c6738f038bd7f7cd94c6 Mon Sep 17 00:00:00 2001
From: pFernbach <pierre.fernbach@gmail.com>
Date: Fri, 19 Apr 2019 16:29:44 +0200
Subject: [PATCH] [python] rename computeEndEffectorCost to
computeEndEffectorVelocityCost
---
python/bezier_com_traj.cpp | 7 ++++---
1 file changed, 4 insertions(+), 3 deletions(-)
diff --git a/python/bezier_com_traj.cpp b/python/bezier_com_traj.cpp
index 8ef93be..5f757c5 100644
--- a/python/bezier_com_traj.cpp
+++ b/python/bezier_com_traj.cpp
@@ -396,10 +396,10 @@ MatrixVector* computeEndEffectorConstraintsPython(const ProblemData& pData, cons
return res;
}
-MatrixVector* computeEndEffectorCostPython(const ProblemData& pData, const double time){
+MatrixVector* computeEndEffectorVelocityCostPython(const ProblemData& pData, const double time){
std::vector<bezier_t::point_t> pi = computeConstantWaypoints(pData,time);
MatrixVector* res = new MatrixVector();
- res->res = computeEndEffectorCost<DummyPath>(pData,DummyPath(),time, 0,false,pi);
+ res->res = computeVelocityCost(pData,time,pi);
return res;
}
@@ -412,6 +412,7 @@ Eigen::Matrix<real, Eigen::Dynamic, Eigen::Dynamic> computeEndEffectorConstantWa
return res;
}
+
/** END end effector **/
@@ -533,7 +534,7 @@ BOOST_PYTHON_MODULE(hpp_bezier_com_traj)
def("computeCOMTraj", &computeCOMTrajPointerChooseSolver, return_value_policy<manage_new_object>());
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("computeEndEffectorVelocityCost", &computeEndEffectorVelocityCostPython, return_value_policy<manage_new_object>());
def("computeEndEffectorConstantWaypoints", &computeEndEffectorConstantWaypoints);
--
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