Commit a834d387 authored by Gabriele Buondonno's avatar Gabriele Buondonno
Browse files

[bindings] Simplify matrixToRpy bindings

parent a448f174
......@@ -19,11 +19,6 @@ namespace pinocchio
return pinocchio::rpy::rpyToMatrix(rpy);
}
Eigen::Vector3d matrixToRpy_proxy(const Eigen::Matrix3d & R)
{
return pinocchio::rpy::matrixToRpy(R);
}
BOOST_PYTHON_FUNCTION_OVERLOADS(rpyToJac_overload, rpy::rpyToJac, 1, 2)
BOOST_PYTHON_FUNCTION_OVERLOADS(rpyToJacInv_overload, rpy::rpyToJacInv, 1, 2)
BOOST_PYTHON_FUNCTION_OVERLOADS(rpyToJacDerivative_overload, rpy::rpyToJacDerivative, 2, 3)
......@@ -68,7 +63,7 @@ namespace pinocchio
" where R_a(theta) denotes the rotation of theta radians axis a");
bp::def("matrixToRpy",
&matrixToRpy_proxy,
&matrixToRpy<Matrix3d>,
bp::arg("R"),
"Given a rotation matrix R, the angles (r, p, y) are given so that R = R_z(y)R_y(p)R_x(r),"
" where R_a(theta) denotes the rotation of theta radians axis a."
......
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