Commit 5bffe10f authored by Julian Viereck's avatar Julian Viereck
Browse files

Expose contact-6d on the formulation python binding

parent 50b5c888
......@@ -26,6 +26,7 @@
#include "tsid/formulations/inverse-dynamics-formulation-acc-force.hpp"
#include "tsid/bindings/python/solvers/HQPData.hpp"
#include "tsid/contacts/contact-6d.hpp"
#include "tsid/contacts/contact-point.hpp"
#include "tsid/tasks/task-joint-posture.hpp"
#include "tsid/tasks/task-se3-equality.hpp"
#include "tsid/tasks/task-com-equality.hpp"
......@@ -56,7 +57,8 @@ namespace tsid
.def("updateTaskWeight", &InvDynPythonVisitor::updateTaskWeight, bp::args("task_name", "weight"))
.def("addRigidContact", &InvDynPythonVisitor::addRigidContact, bp::args("contact"))
.def("addRigidContact", &InvDynPythonVisitor::addRigidContact6d, bp::args("contact"))
.def("addRigidContact", &InvDynPythonVisitor::addRigidContactPoint, bp::args("contact"))
.def("removeTask", &InvDynPythonVisitor::removeTask, bp::args("task_name", "duration"))
.def("removeRigidContact", &InvDynPythonVisitor::removeRigidContact, bp::args("contact_name", "duration"))
.def("computeProblemData", &InvDynPythonVisitor::computeProblemData, bp::args("time", "q", "v"))
......@@ -84,7 +86,10 @@ namespace tsid
static bool updateTaskWeight(T& self, const std::string & task_name, double weight){
return self.updateTaskWeight(task_name, weight);
}
static bool addRigidContact(T& self, contacts::Contact6d & contact){
static bool addRigidContact6d(T& self, contacts::Contact6d & contact){
return self.addRigidContact(contact);
}
static bool addRigidContactPoint(T& self, contacts::ContactPoint & contact){
return self.addRigidContact(contact);
}
static bool removeTask(T& self, const std::string & task_name, double transition_duration){
......
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