expose-skew.cpp 1.18 KB
Newer Older
 Gabriele Buondonno committed Feb 01, 2020 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 ``````// // Copyright (c) 2015-2019 CNRS INRIA // Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France. // #include "pinocchio/bindings/python/fwd.hpp" #include #include "pinocchio/spatial/skew.hpp" namespace pinocchio { namespace python { namespace bp = boost::python; Eigen::Matrix3d skew_proxy(const Eigen::Vector3d & v) { return pinocchio::skew(v); } Eigen::Vector3d unSkew_proxy(const Eigen::Matrix3d & M) { return pinocchio::unSkew(M); } void exposeSkew() { bp::def("skew",&skew_proxy, bp::arg("Angular velocity (vector of size 3)"), "Computes the skew representation of a given 3D vector, " "i.e. the antisymmetric matrix representation of the cross product operator."); bp::def("unSkew",&unSkew_proxy, bp::arg("M: a 3x3 matrix."), "Inverse of skew operator. From a given skew-symmetric matrix M " "of dimension 3x3, it extracts the supporting vector, i.e. the entries of M." "Mathematically speacking, it computes v such that M x = cross(x, v)."); } } // namespace python } // namespace pinocchio``````