Commit b79510be by Justin Carpentier

python/spatial: improve doc

parent 8abc2c93
 ... ... @@ -46,7 +46,7 @@ namespace pinocchio template struct SE3PythonVisitor : public boost::python::def_visitor< SE3PythonVisitor > : public boost::python::def_visitor< SE3PythonVisitor > { typedef typename SE3::Scalar Scalar; typedef typename SE3::Matrix3 Matrix3; ... ... @@ -61,16 +61,16 @@ namespace pinocchio { cl .def(bp::init ((bp::arg("Rotation matrix"),bp::arg("Translation vector")), ((bp::arg("rotation"),bp::arg("translation")), "Initialize from a rotation matrix and a translation vector.")) .def(bp::init ((bp::arg("Quaternion"),bp::arg("Translation vector")), ((bp::arg("quat"),bp::arg("translation")), "Initialize from a quaternion and a translation vector.")) .def(bp::init((bp::arg("trivial arg (should be 1)")),"Init to identity.")) .def(bp::init((bp::arg("int")),"Init to identity.")) .def(bp::init((bp::arg("other")), "Copy constructor.")) .def(bp::init ((bp::arg("Homogeneous matrix")), "Initialize from a homogeneous matrix.")) ((bp::arg("homegeneous_matrix")), "Initialize from an homogeneous matrix.")) .add_property("rotation", &getRotation, ... ... @@ -84,28 +84,28 @@ namespace pinocchio ) .add_property("homogeneous",&SE3::toHomogeneousMatrix, "Returns the homegeneous matrix of *this (acting on SE3).") "Returns the equivalent homegeneous matrix (acting on SE3).") .add_property("action",&SE3::toActionMatrix, "Returns the action matrix of *this (acting on Motion).") "Returns the related action matrix (acting on Motion).") .def("toActionMatrix",&SE3::toActionMatrix,bp::arg("self"), "Returns the action matrix of *this (acting on Motion).") "Returns the related action matrix (acting on Motion).") .add_property("actionInverse",&SE3::toActionMatrixInverse, "Returns the inverse of the action matrix of *this (acting on Motion).\n" "Returns the inverse of the action matrix (acting on Motion).\n" "This is equivalent to do m.inverse().action") .def("toActionMatrixInverse",&SE3::toActionMatrixInverse,bp::arg("self"), "Returns the inverse of the action matrix of *this (acting on Motion).\n" "Returns the inverse of the action matrix (acting on Motion).\n" "This is equivalent to do m.inverse().toActionMatrix()") .add_property("dualAction",&SE3::toDualActionMatrix, "Returns the dual action matrix of *this (acting on Force).") "Returns the related dual action matrix (acting on Force).") .def("toDualActionMatrix",&SE3::toDualActionMatrix,bp::arg("self"), "Returns the dual action matrix of *this (acting on Force).") "Returns the related dual action matrix (acting on Force).") .def("setIdentity",&SE3PythonVisitor::setIdentity,bp::arg("self"), "Set *this to the identity placement.") .def("setRandom",&SE3PythonVisitor::setRandom,bp::arg("self"), "Set *this to a random placement.") .def("inverse", &SE3::inverse, bp::arg("self"), .def("inverse", &SE3::inverse, bp::arg("self"), "Returns the inverse transform") .def("act", (Vector3 (SE3::*)(const Vector3 &) const) &SE3::act, ... ... @@ -180,7 +180,7 @@ namespace pinocchio static void expose() { bp::class_("SE3", "SE3 transformation composed defined by its translation and its rotation", "SE3 transformation defined by a 3d vector and a rotation matrix.", bp::init<>()) .def(SE3PythonVisitor()) .def(CopyableVisitor()) ... ... @@ -213,4 +213,3 @@ namespace pinocchio } // namespace pinocchio #endif // ifndef __pinocchio_python_se3_hpp__
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