Commit cfbc620c authored by Gabriele Buondonno's avatar Gabriele Buondonno
Browse files

[bindings] Bind isNormalized

parent 642a7145
......@@ -10,6 +10,8 @@ namespace pinocchio
namespace python
{
BOOST_PYTHON_FUNCTION_OVERLOADS(isNormalized_overload,isNormalized,2,3)
static Eigen::VectorXd normalize_proxy(const Model & model,
const Eigen::VectorXd & config)
{
......@@ -207,6 +209,18 @@ namespace pinocchio
"\tq1: a joint configuration vector (size model.nq)\n"
"\tq2: a joint configuration vector (size model.nq)\n"
"\tprec: requested accuracy for the comparison\n");
bp::def("isNormalized",
&isNormalized<double,0,JointCollectionDefaultTpl,VectorXd>,
isNormalized_overload(
bp::args("model","q","prec"),
"Check whether a configuration vector is normalized within the given precision provided by prec.\n\n"
"Parameters:\n"
"\tmodel: model of the kinematic tree\n"
"\tq: a joint configuration vector (size model.nq)\n"
"\tprec: requested accuracy for the check\n"
)
);
}
} // namespace python
......
......@@ -612,7 +612,7 @@ namespace pinocchio
/**
*
* @brief Normalize a configuration vector.
* @brief Check whether a configuration vector is normalized within the given precision provided by prec.
*
* @param[in] model Model of the kinematic tree.
* @param[in] q Configuration to check (size model.nq).
......@@ -627,7 +627,7 @@ namespace pinocchio
/**
*
* @brief Normalize a configuration vector.
* @brief Check whether a configuration vector is normalized within the given precision provided by prec.
*
* @param[in] model Model of the kinematic tree.
* @param[in] q Configuration to check (size model.nq).
......
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