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pinocchio
Commits
b46999ee
Verified
Commit
b46999ee
authored
Oct 09, 2020
by
Justin Carpentier
Browse files
python: expoe getCoriolisMatrix
parent
0b94ed14
Changes
1
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Inline
Side-by-side
bindings/python/algorithm/expose-rnea.cpp
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b46999ee
...
...
@@ -82,6 +82,15 @@ namespace pinocchio
"
\t
q: the joint configuration vector (size model.nq)
\n
"
"
\t
v: the joint velocity vector (size model.nv)
\n
"
,
bp
::
return_value_policy
<
bp
::
return_by_value
>
());
bp
::
def
(
"getCoriolisMatrix"
,
&
getCoriolisMatrix
<
double
,
0
,
JointCollectionDefaultTpl
>
,
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
"
"
\t
model: model of the kinematic tree
\n
"
"
\t
data: data related to the model
\n
"
,
bp
::
return_value_policy
<
bp
::
return_by_value
>
());
}
...
...
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