Commit 3ead5dca authored by jcarpent's avatar jcarpent Committed by Justin Carpentier
Browse files

[Multibody] Introduce the notion of LOCAL and WORLD frames

parent 4ed1c07a
......@@ -18,9 +18,9 @@
#include <eigenpy/eigenpy.hpp>
#include <eigenpy/geometry.hpp>
#include "pinocchio/bindings/python/fwd.hpp"
#include <iostream>
#include "pinocchio/bindings/python/fwd.hpp"
#include "pinocchio/multibody/fwd.hpp"
namespace bp = boost::python;
using namespace se3::python;
......@@ -47,6 +47,11 @@ BOOST_PYTHON_MODULE(libpinocchio_pywrap)
exposeInertia();
exposeJoints();
exposeExplog();
bp::enum_< ::se3::ReferenceFrame >("ReferenceFrame")
.value("WORLD",::se3::WORLD)
.value("LOCAL",::se3::LOCAL)
;
exposeModel();
exposeFrame();
......
//
// Copyright (c) 2016 CNRS
// Copyright (c) 2017 CNRS
//
// This file is part of Pinocchio
// Pinocchio is free software: you can redistribute it
......@@ -35,7 +35,12 @@ namespace se3
struct GeometryData;
typedef FrameTpl<double> Frame;
enum ReferenceFrame
{
WORLD = 0,
LOCAL = 1
};
// Forward declaration needed for Model::check
template<class D> struct AlgorithmCheckerBase;
......
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