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Stack Of Tasks
pinocchio
Commits
b11e7835
Commit
b11e7835
authored
Nov 25, 2020
by
Gabriele Buondonno
Browse files
[bindings] Simplify rpyToMatrix bindings
parent
a834d387
Changes
1
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Inline
Side-by-side
bindings/python/math/expose-rpy.cpp
View file @
b11e7835
...
...
@@ -14,11 +14,6 @@ namespace pinocchio
{
namespace
bp
=
boost
::
python
;
Eigen
::
Matrix3d
rpyToMatrix_proxy
(
const
Eigen
::
Vector3d
&
rpy
)
{
return
pinocchio
::
rpy
::
rpyToMatrix
(
rpy
);
}
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
)
...
...
@@ -57,7 +52,7 @@ namespace pinocchio
" where R_a(theta) denotes the rotation of theta radians axis a"
);
bp
::
def
(
"rpyToMatrix"
,
&
rpyToMatrix
_proxy
,
static_cast
<
Matrix3d
(
*
)(
const
MatrixBase
<
Vector3d
>&
)
>
(
&
rpyToMatrix
)
,
bp
::
arg
(
"rpy"
),
"Given (r, p, y), the rotation is given as 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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