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Pierre Fernbach
tsid
Commits
e2c82719
Commit
e2c82719
authored
May 03, 2019
by
Rohan Budhiraja
Browse files
[bindings][formulations] add binding for removeHqpData
parent
707745a6
Changes
1
Hide whitespace changes
Inline
Side-by-side
bindings/python/formulations/formulation.hpp
View file @
e2c82719
...
...
@@ -63,6 +63,7 @@ namespace tsid
.
def
(
"addRigidContact"
,
&
InvDynPythonVisitor
::
addRigidContactPointWithPriorityLevel
,
bp
::
args
(
"contact"
,
"force_reg_weight"
,
"motion_weight"
,
"priority_level"
))
.
def
(
"removeTask"
,
&
InvDynPythonVisitor
::
removeTask
,
bp
::
args
(
"task_name"
,
"duration"
))
.
def
(
"removeRigidContact"
,
&
InvDynPythonVisitor
::
removeRigidContact
,
bp
::
args
(
"contact_name"
,
"duration"
))
.
def
(
"removeFromHqpData"
,
&
InvDynPythonVisitor
::
removeFromHqpData
,
bp
::
args
(
"constraint_name"
))
.
def
(
"computeProblemData"
,
&
InvDynPythonVisitor
::
computeProblemData
,
bp
::
args
(
"time"
,
"q"
,
"v"
))
.
def
(
"getActuatorForces"
,
&
InvDynPythonVisitor
::
getActuatorForces
,
bp
::
args
(
"HQPOutput"
))
...
...
@@ -108,7 +109,10 @@ namespace tsid
}
static
bool
removeRigidContact
(
T
&
self
,
const
std
::
string
&
contactName
,
double
transition_duration
){
return
self
.
removeRigidContact
(
contactName
,
transition_duration
);
}
}
static
bool
removeFromHqpData
(
T
&
self
,
const
std
::
string
&
constraintName
){
return
self
.
removeFromHqpData
(
constraintName
);
}
static
HQPDatas
computeProblemData
(
T
&
self
,
double
time
,
const
Eigen
::
VectorXd
&
q
,
const
Eigen
::
VectorXd
&
v
){
HQPDatas
Hqp
;
Hqp
.
set
(
self
.
computeProblemData
(
time
,
q
,
v
));
...
...
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