Commit 75e359fc authored by Andrea Del Prete's avatar Andrea Del Prete
Browse files

[c++] Add bindings for method Contact6d::getMotionTask

parent 0d547d48
......@@ -55,6 +55,7 @@ namespace tsid
.def("computeMotionTask", &Contact6DPythonVisitor::computeMotionTask, bp::args("t", "q", "v", "data"))
.def("computeForceTask", &Contact6DPythonVisitor::computeForceTask, bp::args("t", "q", "v", "data"))
.def("computeForceRegularizationTask", &Contact6DPythonVisitor::computeForceRegularizationTask, bp::args("t", "q", "v", "data"))
.def("getMotionTask", &Contact6DPythonVisitor::getMotionTask)
.add_property("getForceGeneratorMatrix", bp::make_function(&Contact6DPythonVisitor::getForceGeneratorMatrix, bp::return_value_policy<bp::copy_const_reference>()))
......@@ -97,6 +98,10 @@ namespace tsid
math::ConstraintEquality cons(self.getForceRegularizationTask().name(), self.getForceRegularizationTask().matrix(), self.getForceRegularizationTask().vector());
return cons;
}
static tsid::tasks::TaskSE3Equality getMotionTask(Contact6d & self){
tsid::tasks::TaskSE3Equality t = self.getMotionTask();
return t;
}
static const Eigen::MatrixXd & getForceGeneratorMatrix(Contact6d & self){
return self.getForceGeneratorMatrix();
......
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