Verified Commit a7e9c052 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

python: fix doc

parent b4d7a8b6
//
// Copyright (c) 2015-2020 CNRS INRIA
// Copyright (c) 2015-2021 CNRS INRIA
//
#include "pinocchio/bindings/python/algorithm/algorithms.hpp"
......@@ -17,7 +17,7 @@ namespace pinocchio
bp::def("rnea",
&rnea<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd,VectorXd>,
bp::args("model","Data","q","v","a"),
bp::args("model","data","q","v","a"),
"Compute the RNEA, store the result in Data and return it.\n\n"
"Parameters:\n"
"\tmodel: model of the kinematic tree\n"
......@@ -29,7 +29,7 @@ namespace pinocchio
bp::def("rnea",
&rnea<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd,VectorXd,Force>,
bp::args("model","Data","q","v","a","fext"),
bp::args("model","data","q","v","a","fext"),
"Compute the RNEA with external forces, store the result in Data and return it.\n\n"
"Parameters:\n"
"\tmodel: model of the kinematic tree\n"
......@@ -42,7 +42,7 @@ namespace pinocchio
bp::def("nonLinearEffects",
&nonLinearEffects<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd>,
bp::args("model","Data","q","v"),
bp::args("model","data","q","v"),
"Compute the Non Linear Effects (coriolis, centrifugal and gravitational effects), store the result in Data and return it.\n\n"
"Parameters:\n"
"\tmodel: model of the kinematic tree\n"
......@@ -53,7 +53,7 @@ namespace pinocchio
bp::def("computeGeneralizedGravity",
&computeGeneralizedGravity<double,0,JointCollectionDefaultTpl,VectorXd>,
bp::args("model","Data","q"),
bp::args("model","data","q"),
"Compute the generalized gravity contribution g(q) of the Lagrangian dynamics, store the result in data.g and return it.\n\n"
"Parameters:\n"
"\tmodel: model of the kinematic tree\n"
......@@ -63,7 +63,7 @@ namespace pinocchio
bp::def("computeStaticTorque",
&computeStaticTorque<double,0,JointCollectionDefaultTpl,VectorXd>,
bp::args("model","Data","q","fext"),
bp::args("model","data","q","fext"),
"Computes the generalized static torque contribution g(q) - J.T f_ext of the Lagrangian dynamics, store the result in data.tau and return it.\n\n"
"Parameters:\n"
"\tmodel: model of the kinematic tree\n"
......@@ -74,7 +74,7 @@ namespace pinocchio
bp::def("computeCoriolisMatrix",
&computeCoriolisMatrix<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd>,
bp::args("model","Data","q","v"),
bp::args("model","data","q","v"),
"Compute the Coriolis Matrix C(q,v) of the Lagrangian dynamics, store the result in data.C and return it.\n\n"
"Parameters:\n"
"\tmodel: model of the kinematic tree\n"
......@@ -85,7 +85,7 @@ namespace pinocchio
bp::def("getCoriolisMatrix",
&getCoriolisMatrix<double,0,JointCollectionDefaultTpl>,
bp::args("model","Data"),
bp::args("model","data"),
"Retrives the Coriolis Matrix C(q,v) of the Lagrangian dynamics after calling one of the derivative algorithms, store the result in data.C and return it.\n\n"
"Parameters:\n"
"\tmodel: model of the kinematic tree\n"
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment