Unverified Commit fb517960 authored by Justin Carpentier's avatar Justin Carpentier Committed by GitHub
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Merge pull request #1413 from jcarpent/topic/doc

Improve doc
parents ac7bc117 e7e0ba5b
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//
// Copyright (c) 2018-2020 CNRS INRIA
// Copyright (c) 2018-2021 CNRS INRIA
//
#include "pinocchio/bindings/python/algorithm/algorithms.hpp"
......@@ -47,25 +47,33 @@ namespace pinocchio
bp::def("computeABADerivatives",
computeABADerivativesDefault,
bp::args("Model","Data",
"Configuration q (size Model::nq)",
"Velocity v (size Model::nv)",
"Torque tau (size Model::nv)"),
"Computes the ABA derivatives, store the result in data.ddq_dq, data.ddq_dv and data.Minv\n"
bp::args("model","data","q","v","tau"),
"Computes the ABA derivatives, store the result in data.ddq_dq, data.ddq_dv and data.Minv (aka ddq_dtau)\n"
"which correspond to the partial derivatives of the joint acceleration vector output with respect to the joint configuration,\n"
"velocity and torque vectors.");
"velocity and torque vectors.\n\n"
"Parameters:\n"
"\tmodel: model of the kinematic tree\n"
"\tdata: data related to the model\n"
"\tq: the joint configuration vector (size model.nq)\n"
"\tv: the joint velocity vector (size model.nv)\n"
"\ttau: the joint torque vector (size model.nv)\n\n"
"Returns: (ddq_dq, ddq_dv, ddq_da)");
bp::def("computeABADerivatives",
computeABADerivatives_fext,
bp::args("Model","Data",
"q: configuration vector (size model.nq)",
"v: velocity vector (size model.nv)",
"a: acceleration vector (size model.nv)",
"fext: vector external forces (size model.njoints)"),
bp::args("model","data","q","v","tau","fext"),
"Computes the ABA derivatives with external contact foces,\n"
"store the result in data.ddq_dq, data.ddq_dv and data.Minv\n"
"store the result in data.ddq_dq, data.ddq_dv and data.Minv (aka ddq_dtau)\n"
"which correspond to the partial derivatives of the acceleration output with respect to the joint configuration,\n"
"velocity and torque vectors.\n");
"velocity and torque vectors.\n\n"
"Parameters:\n"
"\tmodel: model of the kinematic tree\n"
"\tdata: data related to the model\n"
"\tq: the joint configuration vector (size model.nq)\n"
"\tv: the joint velocity vector (size model.nv)\n"
"\ttau: the joint torque vector (size model.nv)\n"
"\tfext: list of external forces expressed in the local frame of the joints (size model.njoints)\n\n"
"Returns: (ddq_dq, ddq_dv, ddq_da)");
}
} // namespace python
} // namespace pinocchio
//
// Copyright (c) 2018-2020 CNRS INRIA
// Copyright (c) 2018-2021 CNRS INRIA
//
#include "pinocchio/bindings/python/algorithm/algorithms.hpp"
......@@ -70,7 +70,8 @@ namespace pinocchio
"Parameters:\n"
"\tmodel: model of the kinematic tree\n"
"\tdata: data related to the model\n"
"\tq: the joint configuration vector (size model.nq)\n");
"\tq: the joint configuration vector (size model.nq)\n"
"Returns: dtau_statique_dq\n");
bp::def("computeStaticTorqueDerivatives",
computeStaticTorqueDerivatives,
......@@ -81,12 +82,13 @@ namespace pinocchio
"\tmodel: model of the kinematic tree\n"
"\tdata: data related to the model\n"
"\tq: the joint configuration vector (size model.nq)\n"
"\tfext: list of external forces expressed in the local frame of the joints (size model.njoints)\n");
"\tfext: list of external forces expressed in the local frame of the joints (size model.njoints)\n"
"Returns: dtau_statique_dq\n");
bp::def("computeRNEADerivatives",
computeRNEADerivatives,
bp::args("model","data","q","v","a"),
"Computes the RNEA partial derivatives, store the result in data.dtau_dq, data.dtau_dv and data.dtau_da\n"
"Computes the RNEA partial derivatives, store the result in data.dtau_dq, data.dtau_dv and data.M (aka dtau_da)\n"
"which correspond to the partial derivatives of the torque output with respect to the joint configuration,\n"
"velocity and acceleration vectors.\n\n"
"Parameters:\n"
......@@ -94,13 +96,14 @@ namespace pinocchio
"\tdata: data related to the model\n"
"\tq: the joint configuration vector (size model.nq)\n"
"\tv: the joint velocity vector (size model.nv)\n"
"\ta: the joint acceleration vector (size model.nv)\n");
"\ta: the joint acceleration vector (size model.nv)\n\n"
"Returns: (dtau_dq, dtau_dv, dtau_da)\n");
bp::def("computeRNEADerivatives",
computeRNEADerivatives_fext,
bp::args("model","data","q","v","a","fext"),
"Computes the RNEA partial derivatives with external contact foces,\n"
"store the result in data.dtau_dq, data.dtau_dv and data.dtau_da\n"
"store the result in data.dtau_dq, data.dtau_dv and data.M (aka dtau_da)\n"
"which correspond to the partial derivatives of the torque output with respect to the joint configuration,\n"
"velocity and acceleration vectors.\n\n"
"Parameters:\n"
......@@ -109,7 +112,8 @@ namespace pinocchio
"\tq: the joint configuration vector (size model.nq)\n"
"\tv: the joint velocity vector (size model.nv)\n"
"\ta: the joint acceleration vector (size model.nv)\n"
"\tfext: list of external forces expressed in the local frame of the joints (size model.njoints)\n");
"\tfext: list of external forces expressed in the local frame of the joints (size model.njoints)\n\n"
"Returns: (dtau_dq, dtau_dv, dtau_da)\n");
}
......
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