Commit 599d76fa authored by jcarpent's avatar jcarpent
Browse files

[Python] Expose the default argument version of jacobianCenterOfMass

parent fc887ad0
......@@ -18,11 +18,15 @@
#include "pinocchio/bindings/python/algorithm/algorithms.hpp"
#include "pinocchio/algorithm/center-of-mass.hpp"
#include <boost/python/overloads.hpp>
namespace se3
{
namespace python
{
BOOST_PYTHON_FUNCTION_OVERLOADS(jacobianCenterOfMass_overload,jacobianCenterOfMass,3,5)
static SE3::Vector3
com_0_proxy(const Model& model,
Data & data,
......@@ -85,10 +89,11 @@ namespace se3
"and returns the center of mass position of the full model expressed in the world frame.");
bp::def("jacobianCenterOfMass",jacobianCenterOfMass,
bp::args("Model","Data",
jacobianCenterOfMass_overload(bp::args("Model","Data",
"Joint configuration q (size Model::nq)"),
"Computes the jacobian of the center of mass, puts the result in Data and return it.",
bp::return_value_policy<bp::return_by_value>());
"Computes the jacobian of the center of mass, puts the result in Data and return it.")[
bp::return_value_policy<bp::return_by_value>()]);
}
} // namespace python
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment