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 ");
"Configuration q (size Model::nq)"),
"return the configuration normalized ");
"Configuration q1 (size Model::nq)",
"Configuration q2 (size Model::nq)"),
"Return true if two configurations are equivalent");
} // namespace python
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