Commit fc2dbb74 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[Python] add bindings for new helpers in ContactSequence

parent 8b88a541
...@@ -100,6 +100,52 @@ struct ContactSequencePythonVisitor : public bp::def_visitor<ContactSequencePyth ...@@ -100,6 +100,52 @@ struct ContactSequencePythonVisitor : public bp::def_visitor<ContactSequencePyth
"(ie. the time always increase and the final time of one phase is equal to the initial one of the newt " "(ie. the time always increase and the final time of one phase is equal to the initial one of the newt "
"phase) \n" "phase) \n"
"Return true if the sequence is consistent, false otherwise") "Return true if the sequence is consistent, false otherwise")
.def("haveConsistentContacts", &CS::haveConsistentContacts,
"check that there is always one contact change between adjacent phases in the sequence.\n"
"and that there isn't any phase without any contact.")
.def("haveCOMvalues", &CS::haveCOMvalues,
"Check that the initial and final CoM position values are defined for all phases.\n"
"Also check that the initial values of one phase correspond to the final values of the previous ones.")
.def("haveAMvalues", &CS::haveAMvalues,
"Check that the initial and final AM values are defined for all phases.\n"
"Also check that the initial values of one phase correspond to the final values of the previous ones.")
.def("haveCentroidalValues", &CS::haveCentroidalValues,
"Check that the initial and final CoM position and AM values are defined for all phases.\n"
"Also check that the initial values of one phase correspond to the final values of the previous ones.")
.def("haveConfigurationsValues", &CS::haveConfigurationsValues,
"Check that the initial and final configuration are defined for all phases.\n"
"Also check that the initial values of one phase correspond to the final values of the previous ones.")
.def("haveCOMtrajectories", &CS::haveCOMtrajectories,
"check that a c, dc and ddc trajectories are defined for each phases.\n"
"Also check that the time interval of this trajectories matches the one of the phase.\n"
"and that the trajectories start and end and the correct values defined in each phase.")
.def("haveAMtrajectories", &CS::haveAMtrajectories,
"check that a L and dL trajectories are defined for each phases.\n"
"Also check that the time interval of this trajectories matches the one of the phase.\n"
"and that the trajectories start and end and the correct values defined in each phase.")
.def("haveCentroidalTrajectories", &CS::haveCentroidalTrajectories,
"check that all centroidal trajectories are defined for each phases.\n"
"Also check that the time interval of this trajectories matches the one of the phase.\n"
"and that the trajectories start and end and the correct values defined in each phase.")
.def("haveEffectorsTrajectories", &CS::haveEffectorsTrajectories,
"check that for each phase preceeding a contact creation,"
"an SE3 trajectory is defined for the effector that will be in contact.\n"
"Also check that this trajectory is defined on the time-interval of the phase.\n"
"Also check that the trajectory correctly end at the placement defined for the contact in the next phase.\n"
"If this effector was in contact in the previous phase,"
"it check that the trajectory start at the previous contact placement.")
.def("haveJointsTrajectories", &CS::haveJointsTrajectories,
"Check that a q, dq and ddq trajectories are defined for each phases.\n"
"Also check that the time interval of this trajectories matches the one of the phase.\n"
"and that the trajectories start and end and the correct values defined in each phase.")
.def("haveTorquesTrajectories", &CS::haveTorquesTrajectories,
"Check that a joint torque trajectories are defined for each phases.\n"
"Also check that the time interval of this trajectories matches the one of the phase.\n"
"and that the trajectories start and end and the correct values defined in each phase")
.def("haveContactForcesTrajectories", &CS::haveContactForcesTrajectories,
"Check that a contact force trajectory exist for each active contact.\n"
"Also check that the time interval of this trajectories matches the one of the phase.\n"
"and that the trajectories start and end and the correct values defined in each phase.")
.def(bp::self == bp::self) .def(bp::self == bp::self)
.def(bp::self != bp::self) .def(bp::self != bp::self)
.def("copy", &copy, "Returns a copy of *this."); .def("copy", &copy, "Returns a copy of *this.");
......
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