Verified Commit e13da1a9 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

python: fix doc

parent 82d8ab8e
......@@ -48,6 +48,7 @@ namespace pinocchio
return bp::make_tuple(v_partial_dq,a_partial_dq,a_partial_dv,a_partial_da);
}
Data::Matrix3x getCoMVelocityDerivatives_proxy(const Model & model,
Data & data)
{
......@@ -78,9 +79,9 @@ namespace pinocchio
bp::def("getJointVelocityDerivatives",
getJointVelocityDerivatives_proxy,
bp::args("model","data","joint_id","reference_frame"),
"Computes the partial derivaties of the spatial velocity of a given with respect to\n"
"Computes the partial derivatives of the spatial velocity of a given joint with respect to\n"
"the joint configuration and velocity and returns them as a tuple.\n"
"The Jacobians can be either expressed in the LOCAL frame of the joint or in the WORLD coordinate frame depending on the value of the Reference Frame.\n"
"The Jacobians can be either expressed in the LOCAL frame of the joint, in the LOCAL_WORLD_ALIGNED frame or in the WORLD coordinate frame depending on the value of reference_frame.\n"
"You must first call computForwardKinematicsDerivatives before calling this function.\n\n"
"Parameters:\n"
"\tmodel: model of the kinematic tree\n"
......@@ -91,9 +92,9 @@ namespace pinocchio
bp::def("getJointAccelerationDerivatives",
getJointAccelerationDerivatives_proxy,
bp::args("model","data","joint_id","reference_frame"),
"Computes the partial derivaties of the spatial acceleration of a given with respect to\n"
"Computes the partial derivatives of the spatial acceleration of a given joint with respect to\n"
"the joint configuration, velocity and acceleration and returns them as a tuple.\n"
"The Jacobians can be either expressed in the LOCAL frame of the joint or in the WORLD coordinate frame depending on the value of the Reference Frame.\n"
"The Jacobians can be either expressed in the LOCAL frame of the joint, in the LOCAL_WORLD_ALIGNED frame or in the WORLD coordinate frame depending on the value of reference_frame.\n"
"You must first call computForwardKinematicsDerivatives before calling this function.\n\n"
"Parameters:\n"
"\tmodel: model of the kinematic tree\n"
......@@ -104,7 +105,7 @@ namespace pinocchio
bp::def("getCenterOfMassVelocityDerivatives",
getCoMVelocityDerivatives_proxy,
bp::args("model","data"),
"Computes the partial derivaties of the com velocity of a given with respect to\n"
"Computes the partial derivaties of the center of mass velocity with respect to\n"
"the joint configuration.\n"
"You must first call computForwardKinematicsDerivatives and centerOfMass(q,v) "
"before calling this function.\n\n"
......
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