Commit 0ac2d9cd authored by jcarpent's avatar jcarpent
Browse files

[Python] Expose computeMinverse

parent 3047d076
......@@ -23,6 +23,15 @@ namespace se3
namespace python
{
const Data::RowMatrixXd &
computeMinverse_proxy(const Model & model, Data & data, const Eigen::VectorXd & q)
{
computeMinverse(model,data,q);
data.Minv.triangularView<Eigen::StrictlyLower>() =
data.Minv.transpose().triangularView<Eigen::StrictlyLower>();
return data.Minv;
}
void exposeABA()
{
typedef Eigen::VectorXd DataVector;
......@@ -47,6 +56,14 @@ namespace se3
"Compute ABA with external forces, put the result in Data::ddq and return it.",
bp::return_value_policy<bp::return_by_value>());
bp::def("computeMinverse",
&computeMinverse_proxy,
bp::args("Model","Data",
"Joint configuration q (size Model::nq)"),
"Computes the inverse of the joint space inertia matrix using a variant of the Articulated Body algorithm.\n"
"The result is stored in data.Minv.",
bp::return_value_policy<bp::return_by_value>());
}
} // namespace python
......
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