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Stack Of Tasks
tsid
Commits
75e359fc
Commit
75e359fc
authored
Mar 10, 2021
by
Andrea Del Prete
Browse files
[c++] Add bindings for method Contact6d::getMotionTask
parent
0d547d48
Changes
1
Hide whitespace changes
Inline
Side-by-side
include/tsid/bindings/python/contacts/contact-6d.hpp
View file @
75e359fc
...
...
@@ -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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