From 5cbd9ebd61c547c24a5aff8729238bffbac675a4 Mon Sep 17 00:00:00 2001
From: jcarpent <jcarpent@laas.fr>
Date: Thu, 24 May 2018 23:36:33 +0200
Subject: [PATCH] [Python] Expose computeABADerivatives
---
bindings/python/CMakeLists.txt | 1 +
bindings/python/algorithm/algorithms.hpp | 1 +
.../algorithm/expose-aba-derivatives.cpp | 52 +++++++++++++++++++
3 files changed, 54 insertions(+)
create mode 100644 bindings/python/algorithm/expose-aba-derivatives.cpp
diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt
index c9a4c9bd2..a90a2bf80 100644
--- a/bindings/python/CMakeLists.txt
+++ b/bindings/python/CMakeLists.txt
@@ -90,6 +90,7 @@ SET(${PROJECT_NAME}_PYTHON_SOURCES
algorithm/expose-rnea.cpp
algorithm/expose-rnea-derivatives.cpp
algorithm/expose-aba.cpp
+ algorithm/expose-aba-derivatives.cpp
algorithm/expose-jacobian.cpp
algorithm/expose-joints.cpp
algorithm/expose-energy.cpp
diff --git a/bindings/python/algorithm/algorithms.hpp b/bindings/python/algorithm/algorithms.hpp
index 781689d2a..43f0f25b0 100644
--- a/bindings/python/algorithm/algorithms.hpp
+++ b/bindings/python/algorithm/algorithms.hpp
@@ -42,6 +42,7 @@ namespace se3
void exposeRegressor();
void exposeRNEADerivatives();
+ void exposeABADerivatives();
void exposeAlgorithms();
diff --git a/bindings/python/algorithm/expose-aba-derivatives.cpp b/bindings/python/algorithm/expose-aba-derivatives.cpp
new file mode 100644
index 000000000..4658caa19
--- /dev/null
+++ b/bindings/python/algorithm/expose-aba-derivatives.cpp
@@ -0,0 +1,52 @@
+//
+// Copyright (c) 2018 CNRS
+//
+// This file is part of Pinocchio
+// Pinocchio is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// Pinocchio is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// Pinocchio If not, see
+// <http://www.gnu.org/licenses/>.
+
+#include "pinocchio/bindings/python/algorithm/algorithms.hpp"
+#include "pinocchio/algorithm/aba-derivatives.hpp"
+
+namespace se3
+{
+ namespace python
+ {
+ void computeABADerivativesDefault(const Model & model, Data & data,
+ const Eigen::VectorXd & q,
+ const Eigen::VectorXd & v,
+ const Eigen::VectorXd & tau)
+ {
+ computeABADerivatives(model,data,q,v,tau);
+ }
+
+ void exposeABADerivatives()
+ {
+ using namespace Eigen;
+ typedef container::aligned_vector<Force> ForceAlignedVector;
+
+ bp::def("computeABADerivatives",
+ computeABADerivativesDefault,
+ bp::args("Model","Data",
+ "Configuration q (size Model::nq)",
+ "Velocity v (size Model::nv)",
+ "Torque tau (size Model::nv)"),
+ "Computes the ABA derivatives, put the result in data.ddq_dq, data.ddq_dv and data.Minv\n"
+ "which correspond to the partial derivatives of the joint acceleration vector output with respect to the joint configuration,\n"
+ "velocity and torque vectors.");
+ }
+
+
+
+ } // namespace python
+} // namespace se3
--
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