Commit 06bdb35a authored by Steve Tonneau's avatar Steve Tonneau
Browse files

eigenpy dependency

parent 5eab344a
......@@ -39,7 +39,6 @@ IF(BUILD_PYTHON_INTERFACE)
find_package( Boost COMPONENTS python REQUIRED )
include_directories( ${Boost_INCLUDE_DIR} )
SET(PKG_CONFIG_PYWRAP_REQUIRES "eigenpy >= 1.3.1")
ENDIF(BUILD_PYTHON_INTERFACE)
......
......@@ -3,10 +3,19 @@ cmake_minimum_required( VERSION 2.8 )
include_directories("${INCLUDE_DIR}")
include_directories("${EIGEN3_INCLUDE_DIR}")
ADD_REQUIRED_DEPENDENCY("eigenpy")
# Define the wrapper library that wraps our library
add_library( centroidal_dynamics SHARED centroidal_dynamics_python.cpp )
target_link_libraries( centroidal_dynamics ${Boost_LIBRARIES} ${PROJECT_NAME} )
# don't prepend wrapper library name with lib
set_target_properties( centroidal_dynamics PROPERTIES PREFIX "" )
IF(APPLE)
# We need to change the extension for python bindings
SET_TARGET_PROPERTIES(centroidal_dynamics PROPERTIES SUFFIX ".so")
ENDIF(APPLE)
PKG_CONFIG_USE_DEPENDENCY(centroidal_dynamics eigenpy)
#INSTALL(TARGETS centroidal_dynamics DESTINATION lib)
......@@ -3,6 +3,7 @@
#include <eigenpy/memory.hpp>
#include <eigenpy/eigenpy.hpp>
#include <eigenpy/geometry.hpp>
#include <boost/python.hpp>
......@@ -12,10 +13,10 @@ namespace centroidal_dynamics
{
using namespace boost::python;
bool wrapSetNewContacts(Equilibrium& self, MatrixX3 contactPoints, MatrixX3 contactNormals,
double frictionCoefficient, EquilibriumAlgorithm alg)
bool wrapSetNewContacts(Equilibrium& self, const MatrixXX& contactPoints, const MatrixXX& contactNormals) //,
//double frictionCoefficient, EquilibriumAlgorithm alg)
{
return self.setNewContacts(contactPoints, contactNormals, frictionCoefficient, alg);
return self.setNewContacts(contactPoints, contactNormals, 0.3, EQUILIBRIUM_ALGORITHM_LP);
}
......@@ -25,8 +26,9 @@ BOOST_PYTHON_MODULE(centroidal_dynamics)
eigenpy::enableEigenPy();
eigenpy::enableEigenPySpecific<MatrixX3,MatrixX3>();
/*eigenpy::exposeAngleAxis();
eigenpy::exposeQuaternion();*/
eigenpy::enableEigenPySpecific<MatrixXX,MatrixXX>();
eigenpy::exposeAngleAxis();
eigenpy::exposeQuaternion();
/** END eigenpy init**/
......
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