Commit eb916f1b authored by jcarpent's avatar jcarpent
Browse files

[Python] Expose RNEA with external forces argument

parent ea646e7f
......@@ -30,6 +30,16 @@ namespace se3
{
return rnea(*model,*data,q,v,a);
}
static Eigen::VectorXd rnea_fext_proxy(const ModelHandler& model,
DataHandler & data,
const VectorXd_fx & q,
const VectorXd_fx & v,
const VectorXd_fx & a,
const std::vector<Force> & fext)
{
return rnea(*model,*data,q,v,a,fext);
}
static Eigen::VectorXd nle_proxy(const ModelHandler& model,
DataHandler & data,
......@@ -47,7 +57,16 @@ namespace se3
"Velocity v (size Model::nv)",
"Acceleration a (size Model::nv)"),
"Compute the RNEA, put the result in Data and return it.");
bp::def("rnea",rnea_fext_proxy,
bp::args("Model","Data",
"Configuration q (size Model::nq)",
"Velocity v (size Model::nv)",
"Acceleration a (size Model::nv)",
"Vector of external forces expressed in the local frame of each joint (size Model::njoints)"),
"Compute the RNEA with external forces, put the result in Data and return it.");
bp::def("nle",nle_proxy,
bp::args("Model","Data",
"Configuration q (size Model::nq)",
......
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