From eb916f1b0af9175cb8c4d6b9fbd9224e3414c227 Mon Sep 17 00:00:00 2001
From: jcarpent <jcarpent@laas.fr>
Date: Wed, 21 Sep 2016 17:00:24 +0200
Subject: [PATCH] [Python] Expose RNEA with external forces argument
---
bindings/python/algorithm/expose-rnea.cpp | 19 +++++++++++++++++++
1 file changed, 19 insertions(+)
diff --git a/bindings/python/algorithm/expose-rnea.cpp b/bindings/python/algorithm/expose-rnea.cpp
index ad64289f7..576d4a38f 100644
--- a/bindings/python/algorithm/expose-rnea.cpp
+++ b/bindings/python/algorithm/expose-rnea.cpp
@@ -30,6 +30,16 @@ namespace se3
{
return rnea(*model,*data,q,v,a);
}
+
+ static Eigen::VectorXd rnea_fext_proxy(const ModelHandler& model,
+ DataHandler & data,
+ const VectorXd_fx & q,
+ const VectorXd_fx & v,
+ const VectorXd_fx & a,
+ const std::vector<Force> & fext)
+ {
+ return rnea(*model,*data,q,v,a,fext);
+ }
static Eigen::VectorXd nle_proxy(const ModelHandler& model,
DataHandler & data,
@@ -47,7 +57,16 @@ namespace se3
"Velocity v (size Model::nv)",
"Acceleration a (size Model::nv)"),
"Compute the RNEA, put the result in Data and return it.");
+
+ bp::def("rnea",rnea_fext_proxy,
+ bp::args("Model","Data",
+ "Configuration q (size Model::nq)",
+ "Velocity v (size Model::nv)",
+ "Acceleration a (size Model::nv)",
+ "Vector of external forces expressed in the local frame of each joint (size Model::njoints)"),
+ "Compute the RNEA with external forces, put the result in Data and return it.");
+
bp::def("nle",nle_proxy,
bp::args("Model","Data",
"Configuration q (size Model::nq)",
--
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