From dd98270d948a1e499650d18877ad514c37c86ed9 Mon Sep 17 00:00:00 2001
From: jcarpent <jcarpent@laas.fr>
Date: Tue, 21 Apr 2015 11:56:36 +0200
Subject: [PATCH] [Incremental][Python] Expose computeAllTerms algorithm
---
src/python/algorithms.hpp | 17 +++++++++++++++++
1 file changed, 17 insertions(+)
diff --git a/src/python/algorithms.hpp b/src/python/algorithms.hpp
index e8ee77776..ab77426ee 100644
--- a/src/python/algorithms.hpp
+++ b/src/python/algorithms.hpp
@@ -14,6 +14,8 @@
#include "pinocchio/algorithm/jacobian.hpp"
#include "pinocchio/algorithm/center-of-mass.hpp"
+#include "pinocchio/simulation/compute-all-terms.hpp"
+
namespace se3
{
namespace python
@@ -84,6 +86,14 @@ namespace se3
geometry(*model,*data,q);
}
+ static void computeAllTerms_proxy(const ModelHandler & model,
+ DataHandler & data,
+ const VectorXd_fx & q,
+ const VectorXd_fx & v)
+ {
+ computeAllTerms(*model,*data,q,v);
+ }
+
/* --- Expose --------------------------------------------------------- */
@@ -130,6 +140,13 @@ namespace se3
"Compute the placements of all the frames of the kinematic "
"tree and put the results in data.");
+ bp::def("geometry",computeAllTerms_proxy,
+ bp::args("Model","Data",
+ "Configuration q (size Model::nq)",
+ "Velocity v (size Model::nv)"),
+ "Compute all the terms M, non linear effects and Jacobians in"
+ "in the same loop and put the results in data.");
+
bp::def("jacobian",jacobian_proxy,
bp::args("Model","Data",
"Configuration q (size Model::nq)",
--
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