Verified Commit b46999ee authored by Justin Carpentier's avatar Justin Carpentier
Browse files

python: expoe getCoriolisMatrix

parent 0b94ed14
......@@ -82,6 +82,15 @@ namespace pinocchio
"\tq: the joint configuration vector (size model.nq)\n"
"\tv: 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"
"\tmodel: model of the kinematic tree\n"
"\tdata: data related to the model\n",
bp::return_value_policy<bp::return_by_value>());
}
......
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