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loco-3d
Multicontact-api
Commits
5984dd32
Commit
5984dd32
authored
Feb 05, 2020
by
Pierre Fernbach
Browse files
[Python] add bindings for ContactSequence helpers to concatenate the trajectories of each phases
parent
266c43d0
Changes
1
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include/multicontact-api/bindings/python/scenario/contact-sequence.hpp
View file @
5984dd32
...
...
@@ -151,6 +151,61 @@ struct ContactSequencePythonVisitor : public bp::def_visitor<ContactSequencePyth
"Also check that it start and end at the correct time interval."
)
.
def
(
"getAllEffectorsInContact"
,
&
getAllEffectorsInContactAsList
,
"return a list of names of all the effectors used to create contacts during the sequence"
)
.
def
(
"concatenateCtrajectories"
,
&
CS
::
concatenateCtrajectories
,
"Return a piecewise curve wchich is the concatenation of the m_c curves"
" for each contact phases in the sequence."
)
.
def
(
"concatenateDCtrajectories"
,
&
CS
::
concatenateDCtrajectories
,
"Return a piecewise curve wchich is the concatenation of the m_dc curves"
" for each contact phases in the sequence."
)
.
def
(
"concatenateDDCtrajectories"
,
&
CS
::
concatenateDDCtrajectories
,
"Return a piecewise curve wchich is the concatenation of the m_ddc curves"
" for each contact phases in the sequence."
)
.
def
(
"concatenateLtrajectories"
,
&
CS
::
concatenateLtrajectories
,
"Return a piecewise curve wchich is the concatenation of the m_L curves"
" for each contact phases in the sequence."
)
.
def
(
"concatenateDLtrajectories"
,
&
CS
::
concatenateDLtrajectories
,
"Return a piecewise curve wchich is the concatenation of the m_dL curves"
" for each contact phases in the sequence."
)
.
def
(
"concatenateZMPtrajectories"
,
&
CS
::
concatenateZMPtrajectories
,
"Return a piecewise curve wchich is the concatenation of the m_zmp curves"
" for each contact phases in the sequence."
)
.
def
(
"concatenateQtrajectories"
,
&
CS
::
concatenateQtrajectories
,
"Return a piecewise curve wchich is the concatenation of the m_q curves"
" for each contact phases in the sequence."
)
.
def
(
"concatenateDQtrajectories"
,
&
CS
::
concatenateDQtrajectories
,
"Return a piecewise curve wchich is the concatenation of the m_dq curves"
" for each contact phases in the sequence."
)
.
def
(
"concatenateDDQtrajectories"
,
&
CS
::
concatenateDDQtrajectories
,
"Return a piecewise curve wchich is the concatenation of the m_ddq curves"
" for each contact phases in the sequence."
)
.
def
(
"concatenateTauTrajectories"
,
&
CS
::
concatenateTauTrajectories
,
"Return a piecewise curve wchich is the concatenation of the m_tau curves"
" for each contact phases in the sequence."
)
.
def
(
"concatenateRootTrajectories"
,
&
CS
::
concatenateRootTrajectories
,
"Return a piecewise curve wchich is the concatenation of the m_root curves"
" for each contact phases in the sequence."
)
.
def
(
"concatenateEffectorTrajectories"
,
&
CS
::
concatenateEffectorTrajectories
,
bp
::
arg
(
"eeName"
),
"Return a piecewise curve which is the concatenation"
"of the effectors trajectories curves for the given effector"
"for each contact phases in the sequence.
\n
"
"During the phases where no effector trajectories are defined,"
"the trajectory is constant with the value of"
"the last phase where it was defined."
)
.
def
(
"concatenateContactForceTrajectories"
,
&
CS
::
concatenateContactForceTrajectories
,
bp
::
arg
(
"eeName"
),
"Return a piecewise curve which"
"is the concatenation of the contact forces for the given effector"
"for each contact phases in the sequence.
\n
"
"During the phases where no contact forces are defined,"
"the trajectory is constant with the value of 0."
)
.
def
(
"concatenateNormalForceTrajectories"
,
&
CS
::
concatenateNormalForceTrajectories
,
bp
::
arg
(
"eeName"
),
"Return a piecewise curve which"
"is the concatenation of the contact normal forces for the given effector"
"for each contact phases in the sequence.
\n
"
"During the phases where no contact normal forces are defined,"
"the trajectory is constant with the value of 0."
)
.
def
(
bp
::
self
==
bp
::
self
)
.
def
(
bp
::
self
!=
bp
::
self
)
.
def
(
"copy"
,
&
copy
,
"Returns a copy of *this."
);
...
...
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