Unverified Commit 707745a6 authored by Andrea Del Prete's avatar Andrea Del Prete Committed by GitHub
Browse files

Merge pull request #46 from proyan/devel

[robotwrapper] create constructor from pinocchio::model
parents e8642f31 7b9724a5
...@@ -44,6 +44,7 @@ namespace tsid ...@@ -44,6 +44,7 @@ namespace tsid
{ {
cl cl
.def(bp::init<std::string, std_vec, bool>((bp::arg("filename"), bp::arg("package_dir"), bp::arg("verbose")), "Default constructor without RootJoint.")) .def(bp::init<std::string, std_vec, bool>((bp::arg("filename"), bp::arg("package_dir"), bp::arg("verbose")), "Default constructor without RootJoint."))
.def(bp::init<pinocchio::Model, bool>((bp::arg("Pinocchio Model"), bp::arg("verbose")), "Default constructor from pinocchio model"))
.def(bp::init<std::string, std_vec, pinocchio::JointModelVariant, bool>((bp::arg("filename"), bp::arg("package_dir"), bp::arg("roottype"), bp::arg("verbose")), "Default constructor without RootJoint.")) .def(bp::init<std::string, std_vec, pinocchio::JointModelVariant, bool>((bp::arg("filename"), bp::arg("package_dir"), bp::arg("roottype"), bp::arg("verbose")), "Default constructor without RootJoint."))
.add_property("nq", &Robot::nq) .add_property("nq", &Robot::nq)
.add_property("nv", &Robot::nv) .add_property("nv", &Robot::nv)
......
...@@ -59,7 +59,9 @@ namespace tsid ...@@ -59,7 +59,9 @@ namespace tsid
RobotWrapper(const std::string & filename, RobotWrapper(const std::string & filename,
const std::vector<std::string> & package_dirs, const std::vector<std::string> & package_dirs,
bool verbose=false); bool verbose=false);
RobotWrapper(const Model & m, bool verbose=false);
RobotWrapper(const std::string & filename, RobotWrapper(const std::string & filename,
const std::vector<std::string> & package_dirs, const std::vector<std::string> & package_dirs,
const pinocchio::JointModelVariant & rootJoint, const pinocchio::JointModelVariant & rootJoint,
......
...@@ -44,6 +44,16 @@ namespace tsid ...@@ -44,6 +44,16 @@ namespace tsid
m_Md.setZero(m_model.nv); m_Md.setZero(m_model.nv);
m_M.setZero(m_model.nv, m_model.nv); m_M.setZero(m_model.nv, m_model.nv);
} }
RobotWrapper::RobotWrapper(const pinocchio::Model& m, bool verbose)
: m_verbose(verbose)
{
m_model = m;
m_model_filename = "";
m_rotor_inertias.setZero(m_model.nv);
m_gear_ratios.setZero(m_model.nv);
m_Md.setZero(m_model.nv);
m_M.setZero(m_model.nv, m_model.nv);
}
RobotWrapper::RobotWrapper(const std::string & filename, RobotWrapper::RobotWrapper(const std::string & filename,
const std::vector<std::string> & , const std::vector<std::string> & ,
......
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