Commit 32476206 authored by Valenza Florian's avatar Valenza Florian
Browse files

[Python] Adding missing algorithm working on configurations

parent 5d340189
......@@ -57,6 +57,21 @@ namespace se3
{
return randomConfiguration(*model, lowerPosLimit, upperPosLimit);
}
static void normalize_proxy(const ModelHandler & model,
VectorXd_fx & config)
{
Eigen::VectorXd q(config);
normalize(*model, q);
config = q;
}
static bool isSameConfiguration_proxy(const ModelHandler & model,
const VectorXd_fx & q1,
const VectorXd_fx & q2)
{
return isSameConfiguration(*model, q1, q2);
}
void exposeJointsAlgo()
{
......@@ -88,6 +103,15 @@ namespace se3
"Joint lower limits (size Model::nq)",
"Joint upper limits (size Model::nq)"),
"Generate a random configuration ensuring provied joint limits are respected ");
bp::def("normalize",normalize_proxy,
bp::args("Model",
"Configuration q (size Model::nq)"),
"return the configuration normalized ");
bp::def("isSameConfiguration",isSameConfiguration_proxy,
bp::args("Model",
"Configuration q1 (size Model::nq)",
"Configuration q2 (size Model::nq)"),
"Return true if two configurations are equivalent");
}
} // namespace python
......
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