Verified Commit ab1e2fcd authored by Justin Carpentier's avatar Justin Carpentier
Browse files

doc/python: use store instead of put

parent ac6935dd
...@@ -36,7 +36,7 @@ namespace pinocchio ...@@ -36,7 +36,7 @@ namespace pinocchio
"Configuration q (size Model::nq)", "Configuration q (size Model::nq)",
"Velocity v (size Model::nv)", "Velocity v (size Model::nv)",
"Torque tau (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" "Computes the ABA derivatives, store 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" "which correspond to the partial derivatives of the joint acceleration vector output with respect to the joint configuration,\n"
"velocity and torque vectors."); "velocity and torque vectors.");
...@@ -48,7 +48,7 @@ namespace pinocchio ...@@ -48,7 +48,7 @@ namespace pinocchio
"a: acceleration vector (size model.nv)", "a: acceleration vector (size model.nv)",
"fext: vector external forces (size model.njoints)"), "fext: vector external forces (size model.njoints)"),
"Computes the ABA derivatives with external contact foces,\n" "Computes the ABA derivatives with external contact foces,\n"
"put the result in data.ddq_dq, data.ddq_dv and data.Minv\n" "store the result in data.ddq_dq, data.ddq_dv and data.Minv\n"
"which correspond to the partial derivatives of the acceleration output with respect to the joint configuration,\n" "which correspond to the partial derivatives of the acceleration output with respect to the joint configuration,\n"
"velocity and torque vectors.\n" "velocity and torque vectors.\n"
"The forces are of type StdVec_Force."); "The forces are of type StdVec_Force.");
......
...@@ -29,7 +29,7 @@ namespace pinocchio ...@@ -29,7 +29,7 @@ namespace pinocchio
"Joint configuration q (size Model::nq)", "Joint configuration q (size Model::nq)",
"Joint velocity v (size Model::nv)", "Joint velocity v (size Model::nv)",
"Joint torque tau (size Model::nv)"), "Joint torque tau (size Model::nv)"),
"Compute ABA, put the result in Data::ddq and return it.", "Compute ABA, store the result in Data::ddq and return it.",
bp::return_value_policy<bp::return_by_value>()); bp::return_value_policy<bp::return_by_value>());
bp::def("aba", bp::def("aba",
...@@ -39,7 +39,7 @@ namespace pinocchio ...@@ -39,7 +39,7 @@ namespace pinocchio
"Joint velocity v (size Model::nv)", "Joint velocity v (size Model::nv)",
"Joint torque tau (size Model::nv)", "Joint torque tau (size Model::nv)",
"Vector of external forces expressed in the local frame of each joint (size Model::njoints)"), "Vector of external forces expressed in the local frame of each joint (size Model::njoints)"),
"Compute ABA with external forces, put the result in Data::ddq and return it.", "Compute ABA with external forces, store the result in Data::ddq and return it.",
bp::return_value_policy<bp::return_by_value>()); bp::return_value_policy<bp::return_by_value>());
bp::def("computeMinverse", bp::def("computeMinverse",
......
...@@ -27,7 +27,7 @@ namespace pinocchio ...@@ -27,7 +27,7 @@ namespace pinocchio
"Configuration q (size Model::nq)", "Configuration q (size Model::nq)",
"Velocity v (size Model::nv)"), "Velocity v (size Model::nv)"),
"Compute all the terms M, non linear effects and Jacobians in" "Compute all the terms M, non linear effects and Jacobians in"
"in the same loop and put the results in data."); "in the same loop and store the results in data.");
} }
} // namespace python } // namespace python
} // namespace pinocchio } // namespace pinocchio
...@@ -111,7 +111,7 @@ namespace pinocchio ...@@ -111,7 +111,7 @@ namespace pinocchio
"Coefficient of restitution r_coeff (0 = rigid impact; 1 = fully elastic impact)", "Coefficient of restitution r_coeff (0 = rigid impact; 1 = fully elastic impact)",
"Damping factor when J is rank deficient." "Damping factor when J is rank deficient."
), ),
"Solves the impact dynamics problem with contacts, put the result in Data::dq_after and return it. The contact impulses are stored in data.impulse_c." "Solves the impact dynamics problem with contacts, store the result in Data::dq_after and return it. The contact impulses are stored in data.impulse_c."
" Internally, pinocchio.crba is called." " Internally, pinocchio.crba is called."
)); ));
...@@ -123,7 +123,7 @@ namespace pinocchio ...@@ -123,7 +123,7 @@ namespace pinocchio
"Contact Jacobian J (size nb_constraint * Model::nv)", "Contact Jacobian J (size nb_constraint * Model::nv)",
"Coefficient of restitution r_coeff (0 = rigid impact; 1 = fully elastic impact)", "Coefficient of restitution r_coeff (0 = rigid impact; 1 = fully elastic impact)",
"Damping factor when J is rank deficient."), "Damping factor when J is rank deficient."),
"Solves the impact dynamics problem with contacts, put the result in Data::dq_after and return it. The contact impulses are stored in data.impulse_c." "Solves the impact dynamics problem with contacts, store the result in Data::dq_after and return it. The contact impulses are stored in data.impulse_c."
" Assumes pinocchio.crba has been called." " Assumes pinocchio.crba has been called."
)); ));
......
...@@ -25,7 +25,7 @@ namespace pinocchio ...@@ -25,7 +25,7 @@ namespace pinocchio
bp::def("crba",crba_proxy, bp::def("crba",crba_proxy,
bp::args("Model","Data", bp::args("Model","Data",
"Joint configuration q (size Model::nq)"), "Joint configuration q (size Model::nq)"),
"Computes CRBA, put the result in Data and return it."); "Computes CRBA, store the result in Data and return it.");
} }
} // namespace python } // namespace python
......
...@@ -91,7 +91,7 @@ namespace pinocchio ...@@ -91,7 +91,7 @@ namespace pinocchio
"Configuration q (size Model::nq)"), "Configuration q (size Model::nq)"),
"Update first the placement of the joints according to the given configuration value." "Update first the placement of the joints according to the given configuration value."
"And computes the placements of all the operational frames" "And computes the placements of all the operational frames"
"and put the results in data."); "and store the results in data.");
bp::def("computeFrameJacobian", bp::def("computeFrameJacobian",
&compute_frame_jacobian_proxy, &compute_frame_jacobian_proxy,
......
...@@ -17,14 +17,14 @@ namespace pinocchio ...@@ -17,14 +17,14 @@ namespace pinocchio
&updateGlobalPlacements<double,0,JointCollectionDefaultTpl>, &updateGlobalPlacements<double,0,JointCollectionDefaultTpl>,
bp::args("Model","Data"), bp::args("Model","Data"),
"Updates the global placements of all the frames of the kinematic " "Updates the global placements of all the frames of the kinematic "
"tree and put the results in data according to the relative placements of the joints."); "tree and store the results in data according to the relative placements of the joints.");
bp::def("forwardKinematics", bp::def("forwardKinematics",
&forwardKinematics<double,0,JointCollectionDefaultTpl,VectorXd>, &forwardKinematics<double,0,JointCollectionDefaultTpl,VectorXd>,
bp::args("Model","Data", bp::args("Model","Data",
"Configuration q (size Model::nq)"), "Configuration q (size Model::nq)"),
"Compute the global placements of all the joints of the kinematic " "Compute the global placements of all the joints of the kinematic "
"tree and put the results in data."); "tree and store the results in data.");
bp::def("forwardKinematics", bp::def("forwardKinematics",
&forwardKinematics<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd>, &forwardKinematics<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd>,
...@@ -32,7 +32,7 @@ namespace pinocchio ...@@ -32,7 +32,7 @@ namespace pinocchio
"Configuration q (size Model::nq)", "Configuration q (size Model::nq)",
"Velocity v (size Model::nv)"), "Velocity v (size Model::nv)"),
"Compute the global placements and local spatial velocities of all the joints of the kinematic " "Compute the global placements and local spatial velocities of all the joints of the kinematic "
"tree and put the results in data."); "tree and store the results in data.");
bp::def("forwardKinematics", bp::def("forwardKinematics",
&forwardKinematics<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd,VectorXd>, &forwardKinematics<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd,VectorXd>,
...@@ -41,7 +41,7 @@ namespace pinocchio ...@@ -41,7 +41,7 @@ namespace pinocchio
"Velocity v (size Model::nv)", "Velocity v (size Model::nv)",
"Acceleration a (size Model::nv)"), "Acceleration a (size Model::nv)"),
"Compute the global placements, local spatial velocities and spatial accelerations of all the joints of the kinematic " "Compute the global placements, local spatial velocities and spatial accelerations of all the joints of the kinematic "
"tree and put the results in data."); "tree and store the results in data.");
} }
} // namespace python } // namespace python
......
...@@ -34,7 +34,7 @@ namespace pinocchio ...@@ -34,7 +34,7 @@ namespace pinocchio
bp::args("Model","Data", bp::args("Model","Data",
"Configuration q (size Model::nq)"), "Configuration q (size Model::nq)"),
"Compute the static regressor that links the inertia parameters of the system to its center of mass position,\n" "Compute the static regressor that links the inertia parameters of the system to its center of mass position,\n"
"put the result in Data and return it.", "store the result in Data and return it.",
bp::return_value_policy<bp::return_by_value>()); bp::return_value_policy<bp::return_by_value>());
bp::def("bodyRegressor", bp::def("bodyRegressor",
...@@ -66,7 +66,7 @@ namespace pinocchio ...@@ -66,7 +66,7 @@ namespace pinocchio
"Acceleration a (size Model::nv)"), "Acceleration a (size Model::nv)"),
"Compute the joint torque regressor that links the joint torque " "Compute the joint torque regressor that links the joint torque "
"to the dynamic parameters of each link according to the current the robot motion,\n" "to the dynamic parameters of each link according to the current the robot motion,\n"
"put the result in Data and return it.", "store the result in Data and return it.",
bp::return_value_policy<bp::return_by_value>()); bp::return_value_policy<bp::return_by_value>());
} }
......
...@@ -80,7 +80,7 @@ namespace pinocchio ...@@ -80,7 +80,7 @@ namespace pinocchio
"q: configuration vector (size model.nq)", "q: configuration vector (size model.nq)",
"v: velocity vector (size model.nv)", "v: velocity vector (size model.nv)",
"a: acceleration vector (size model.nv)"), "a: acceleration vector (size model.nv)"),
"Computes the RNEA partial derivatives, put the result in data.dtau_dq, data.dtau_dv and data.dtau_da\n" "Computes the RNEA partial derivatives, store the result in data.dtau_dq, data.dtau_dv and data.dtau_da\n"
"which correspond to the partial derivatives of the torque output with respect to the joint configuration,\n" "which correspond to the partial derivatives of the torque output with respect to the joint configuration,\n"
"velocity and acceleration vectors."); "velocity and acceleration vectors.");
...@@ -92,7 +92,7 @@ namespace pinocchio ...@@ -92,7 +92,7 @@ namespace pinocchio
"a: acceleration vector (size model.nv)", "a: acceleration vector (size model.nv)",
"fext: vector of external forces expressed in the local frame of the joints (size model.njoints)"), "fext: vector of external forces expressed in the local frame of the joints (size model.njoints)"),
"Computes the RNEA partial derivatives with external contact foces,\n" "Computes the RNEA partial derivatives with external contact foces,\n"
"put the result in data.dtau_dq, data.dtau_dv and data.dtau_da\n" "store the result in data.dtau_dq, data.dtau_dv and data.dtau_da\n"
"which correspond to the partial derivatives of the torque output with respect to the joint configuration,\n" "which correspond to the partial derivatives of the torque output with respect to the joint configuration,\n"
"velocity and acceleration vectors."); "velocity and acceleration vectors.");
} }
......
...@@ -46,7 +46,7 @@ namespace pinocchio ...@@ -46,7 +46,7 @@ namespace pinocchio
"Velocity v (size Model::nv)", "Velocity v (size Model::nv)",
"Acceleration a (size Model::nv)", "Acceleration a (size Model::nv)",
"Vector of external forces expressed in the local frame of each joint (size Model::njoints)"), "Vector of external forces expressed in the local frame of each joint (size Model::njoints)"),
"Compute the RNEA with external forces, put the result in Data and return it.", "Compute the RNEA with external forces, store the result in Data and return it.",
bp::return_value_policy<bp::return_by_value>()); bp::return_value_policy<bp::return_by_value>());
bp::def("rnea", bp::def("rnea",
...@@ -64,14 +64,14 @@ namespace pinocchio ...@@ -64,14 +64,14 @@ namespace pinocchio
bp::args("Model","Data", bp::args("Model","Data",
"Configuration q (size Model::nq)", "Configuration q (size Model::nq)",
"Velocity v (size Model::nv)"), "Velocity v (size Model::nv)"),
"Compute the Non Linear Effects (coriolis, centrifugal and gravitational effects), put the result in Data and return it.", "Compute the Non Linear Effects (coriolis, centrifugal and gravitational effects), store the result in Data and return it.",
bp::return_value_policy<bp::return_by_value>()); bp::return_value_policy<bp::return_by_value>());
bp::def("computeGeneralizedGravity", bp::def("computeGeneralizedGravity",
&computeGeneralizedGravity<double,0,JointCollectionDefaultTpl,VectorXd>, &computeGeneralizedGravity<double,0,JointCollectionDefaultTpl,VectorXd>,
bp::args("Model","Data", bp::args("Model","Data",
"Configuration q (size Model::nq)"), "Configuration q (size Model::nq)"),
"Compute the generalized gravity contribution g(q) of the Lagrangian dynamics, put the result in data.g and return it.", "Compute the generalized gravity contribution g(q) of the Lagrangian dynamics, store the result in data.g and return it.",
bp::return_value_policy<bp::return_by_value>()); bp::return_value_policy<bp::return_by_value>());
bp::def("computeStaticTorque", bp::def("computeStaticTorque",
...@@ -79,7 +79,7 @@ namespace pinocchio ...@@ -79,7 +79,7 @@ namespace pinocchio
bp::args("Model","Data", bp::args("Model","Data",
"Configuration q (size Model::nq)", "Configuration q (size Model::nq)",
"Vector of external forces expressed in the local frame of each joint (size Model::njoints)"), "Vector of external forces expressed in the local frame of each joint (size Model::njoints)"),
"Computes the generalized static torque contribution g(q) - J.T f_ext of the Lagrangian dynamics, put the result in data.tau and return it.", "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.",
bp::return_value_policy<bp::return_by_value>()); bp::return_value_policy<bp::return_by_value>());
bp::def("computeCoriolisMatrix", bp::def("computeCoriolisMatrix",
...@@ -87,7 +87,7 @@ namespace pinocchio ...@@ -87,7 +87,7 @@ namespace pinocchio
bp::args("Model","Data", bp::args("Model","Data",
"Configuration q (size Model::nq)", "Configuration q (size Model::nq)",
"Velocity v (size Model::nv)"), "Velocity v (size Model::nv)"),
"Compute the Coriolis Matrix C(q,v) of the Lagrangian dynamics, put the result in data.C and return it.", "Compute the Coriolis Matrix C(q,v) of the Lagrangian dynamics, store the result in data.C and return it.",
bp::return_value_policy<bp::return_by_value>()); bp::return_value_policy<bp::return_by_value>());
} }
......
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