Commit d6014d84 authored by Justin Carpentier's avatar Justin Carpentier

python/data: fix doc

parent b7604d4a
......@@ -111,15 +111,15 @@ namespace pinocchio
.ADD_DATA_PROPERTY_READONLY_BYVALUE(Eigen::MatrixXd,ddq_dq,"Partial derivative of the joint acceleration vector with respect to the joint configuration.")
.ADD_DATA_PROPERTY_READONLY_BYVALUE(Eigen::MatrixXd,ddq_dv,"Partial derivative of the joint acceleration vector with respect to the joint velocity.")
.ADD_DATA_PROPERTY_READONLY_BYVALUE(double,kinetic_energy,"Kinetic energy in [J] computed by kineticEnergy(model,data,q,v,True/False)")
.ADD_DATA_PROPERTY_READONLY_BYVALUE(double,potential_energy,"Potential energy in [J] computed by potentialEnergy(model,data,q,True/False)")
.ADD_DATA_PROPERTY_READONLY_BYVALUE(double,kinetic_energy,"Kinetic energy in [J] computed by kineticEnergy")
.ADD_DATA_PROPERTY_READONLY_BYVALUE(double,potential_energy,"Potential energy in [J] computed by potentialEnergy")
.ADD_DATA_PROPERTY_READONLY_BYVALUE(Eigen::VectorXd,lambda_c,"Lagrange Multipliers linked to contact forces")
.ADD_DATA_PROPERTY_READONLY_BYVALUE(Eigen::VectorXd,impulse_c,"Lagrange Multipliers linked to contact impulses")
.ADD_DATA_PROPERTY_READONLY_BYVALUE(Eigen::VectorXd,dq_after,"Generalized velocity after the impact.")
.ADD_DATA_PROPERTY_READONLY_BYVALUE(Matrix3x,staticRegressor,"Static regressor.")
.ADD_DATA_PROPERTY_READONLY_BYVALUE(Eigen::MatrixXd,jointTorqueRegressor,"Joint Torque Regressor.")
.ADD_DATA_PROPERTY_READONLY_BYVALUE(Eigen::MatrixXd,jointTorqueRegressor,"Joint torque regressor.")
;
}
......@@ -127,8 +127,8 @@ namespace pinocchio
static void expose()
{
bp::class_<Data>("Data",
"Articulated rigid body data.\n"
"It contains all the data that can be modified by the algorithms.",
"Articulated rigid body data related to a Model.\n"
"It contains all the data that can be modified by the Pinocchio algorithms.",
bp::no_init)
.def(DataPythonVisitor())
.def(CopyableVisitor<Data>());
......
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