fix libname

python/centroidal_dynamics_python.cpp

@@ -58,7 +58,7 @@ boost::python::tuple wrapGetPolytopeInequalities(Equilibrium& self)
 
 
 
-BOOST_PYTHON_MODULE(centroidal_dynamics)
+BOOST_PYTHON_MODULE(hpp_centroidal_dynamics)
 {
     /** BEGIN eigenpy init**/
     eigenpy::enableEigenPy();

python/test/binding_tests.py

-from centroidal_dynamics import *
+from hpp_centroidal_dynamics import *
 
 #testing constructors
-eq = Equilibrium("test", 54., 4) 
-eq = Equilibrium("test", 54., 4, SolverLP.SOLVER_LP_QPOASES ) 
-eq = Equilibrium("test", 54., 4, SolverLP.SOLVER_LP_QPOASES ) 
-eq = Equilibrium("test", 54., 4, SolverLP.SOLVER_LP_QPOASES, False) 
-eq = Equilibrium("test", 54., 4, SolverLP.SOLVER_LP_QPOASES, False, 1) 
-eq = Equilibrium("test", 54., 4, SolverLP.SOLVER_LP_QPOASES, True, 1, True ) 
+eq = Equilibrium("test", 54., 4)
+eq = Equilibrium("test", 54., 4, SolverLP.SOLVER_LP_QPOASES )
+eq = Equilibrium("test", 54., 4, SolverLP.SOLVER_LP_QPOASES )
+eq = Equilibrium("test", 54., 4, SolverLP.SOLVER_LP_QPOASES, False)
+eq = Equilibrium("test", 54., 4, SolverLP.SOLVER_LP_QPOASES, False, 1)
+eq = Equilibrium("test", 54., 4, SolverLP.SOLVER_LP_QPOASES, True, 1, True )
 
 #whether useWarmStart is enable (True by default)
 previous = eq.useWarmStart()
@@ -25,7 +25,7 @@ z = array([0.,0.,1.])
 P = asmatrix(array([array([x,y,0]) for x in [-0.05,0.05] for y in [-0.1,0.1]]))
 N = asmatrix(array([z for _ in range(4)]))
 
-#setting contact positions and normals, as well as friction coefficients 
+#setting contact positions and normals, as well as friction coefficients
 eq.setNewContacts(asmatrix(P),asmatrix(N),0.3,EquilibriumAlgorithm.EQUILIBRIUM_ALGORITHM_LP)
 
 c= asmatrix(array([0.,0.,1.])).T
@@ -34,7 +34,7 @@ c= asmatrix(array([0.,0.,1.])).T
 status, robustness = eq.computeEquilibriumRobustness(c)
 assert (status == LP_STATUS_OPTIMAL), "LP should not fail"
 assert (robustness > 0), "first test should be in equilibrirum"
-	
+
 #computing robustness of a given configuration with non zero acceleration
 ddc= asmatrix(array([1000.,0.,0.])).T
 status, robustness = eq.computeEquilibriumRobustness(c,ddc)
@@ -58,10 +58,10 @@ import numpy as np
 def compute_w(c, ddc, dL=array([0.,0.,0.]), m = 54., g_vec=array([0.,0.,-9.81])):
 	w1 = m * (ddc - g_vec)
 	return array(w1.tolist() + (cross(c, w1) + dL).tolist())
-	
+
 
 def is_stable(H,c=array([0.,0.,1.]), ddc=array([0.,0.,0.]), dL=array([0.,0.,0.]), m = 54., g_vec=array([0.,0.,-9.81]), robustness = 0.):
-	w = compute_w(c, ddc, dL, m, g_vec)	
+	w = compute_w(c, ddc, dL, m, g_vec)
 	return (H.dot(-w)<=-robustness).all()
-    
+
 assert(is_stable(H))