Commit fa40d7b1 authored by Justin Carpentier's avatar Justin Carpentier

python: remove useless lines

parent 40a5b9c0
......@@ -24,21 +24,6 @@ namespace pinocchio
}
BOOST_PYTHON_FUNCTION_OVERLOADS(forwardDynamics_overloads, forwardDynamics_proxy, 7, 9)
// // TODO: overloading impulseDynamics directly, as done for forwardDynamics, was apparently not working (it crashed for 5 arguments)
// // Therefore, it was necessary to resort to a proxy
// static const Eigen::VectorXd impulseDynamics_proxy(const Model & model,
// Data & data,
// const Eigen::VectorXd & q,
// const Eigen::VectorXd & v_before,
// const Eigen::MatrixXd & J,
// const double r_coeff = 0.0,
// const bool updateKinematics = true)
// {
// return impulseDynamics(model, data, q, v_before, J, r_coeff, updateKinematics);
// }
//
// BOOST_PYTHON_FUNCTION_OVERLOADS(impulseDynamics_overloads, impulseDynamics_proxy, 5, 7)
static const Eigen::VectorXd impulseDynamics_proxy(const Model & model,
Data & data,
......
......@@ -220,14 +220,14 @@ def impactDynamics(model, data, q = None, *args):
_warnings.warn(message, category=DeprecatedWarning, stacklevel=2)
inv_damping = 0.
r_coeff = args[2]
if(args[3])
return pîn.impactDynamics(model,data,q,v_before,J,inv_damping,r_coeff)
if(args[3]):
return pin.impactDynamics(model,data,q,v_before,J,inv_damping,r_coeff)
else:
return pîn.impactDynamics(model,data,v_before,J,inv_damping,r_coeff)
return pin.impactDynamics(model,data,v_before,J,inv_damping,r_coeff)
else:
inv_damping = args[2]
r_coeff = args[3]
return pîn.impactDynamics(model,data,q,v_before,J,inv_damping,r_coeff)
return pin.impactDynamics(model,data,q,v_before,J,inv_damping,r_coeff)
impactDynamics.__doc__ = (
pin.impactDynamics.__doc__
......
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