Unverified Commit eeefef7b authored by Andrea Del Prete's avatar Andrea Del Prete Committed by GitHub
Browse files

Merge pull request #47 from proyan/devel

[bindings][formulations] add binding for removeFromHqpData
parents 707745a6 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"))
......@@ -109,6 +110,9 @@ 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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