Commit b11e7835 authored by Gabriele Buondonno's avatar Gabriele Buondonno
Browse files

[bindings] Simplify rpyToMatrix bindings

parent a834d387
......@@ -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");
......
Markdown is supported
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