| Line |
Branch |
Exec |
Source |
| 1 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 2 |
|
|
// BSD 3-Clause License |
| 3 |
|
|
// |
| 4 |
|
|
// Copyright (C) 2019-2024, University of Edinburgh, Heriot-Watt University |
| 5 |
|
|
// Copyright note valid unless otherwise stated in individual files. |
| 6 |
|
|
// All rights reserved. |
| 7 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 8 |
|
|
|
| 9 |
|
|
#include "python/crocoddyl/multibody/multibody.hpp" |
| 10 |
|
|
|
| 11 |
|
|
namespace crocoddyl { |
| 12 |
|
|
namespace python { |
| 13 |
|
|
|
| 14 |
|
10 |
void exposeMultibody() { |
| 15 |
|
10 |
exposeFrictionCone(); |
| 16 |
|
10 |
exposeWrenchCone(); |
| 17 |
|
10 |
exposeCoPSupport(); |
| 18 |
|
10 |
exposeStateMultibody(); |
| 19 |
|
10 |
exposeActuationFloatingBase(); |
| 20 |
|
10 |
exposeActuationFull(); |
| 21 |
|
10 |
exposeActuationFloatingBaseThruster(); |
| 22 |
|
10 |
exposeActuationModelMultiCopterBase(); |
| 23 |
|
10 |
exposeForceAbstract(); |
| 24 |
|
10 |
exposeContactAbstract(); |
| 25 |
|
10 |
exposeImpulseAbstract(); |
| 26 |
|
10 |
exposeContactMultiple(); |
| 27 |
|
10 |
exposeImpulseMultiple(); |
| 28 |
|
10 |
exposeDataCollectorMultibody(); |
| 29 |
|
10 |
exposeDataCollectorContacts(); |
| 30 |
|
10 |
exposeDataCollectorImpulses(); |
| 31 |
|
10 |
exposeDifferentialActionFreeFwdDynamics(); |
| 32 |
|
10 |
exposeDifferentialActionFreeInvDynamics(); |
| 33 |
|
10 |
exposeDifferentialActionContactFwdDynamics(); |
| 34 |
|
10 |
exposeDifferentialActionContactInvDynamics(); |
| 35 |
|
10 |
exposeActionImpulseFwdDynamics(); |
| 36 |
|
10 |
exposeResidualState(); |
| 37 |
|
10 |
exposeResidualCentroidalMomentum(); |
| 38 |
|
10 |
exposeResidualCoMPosition(); |
| 39 |
|
10 |
exposeResidualContactForce(); |
| 40 |
|
10 |
exposeResidualContactFrictionCone(); |
| 41 |
|
10 |
exposeResidualContactCoPPosition(); |
| 42 |
|
10 |
exposeResidualContactWrenchCone(); |
| 43 |
|
10 |
exposeResidualContactControlGrav(); |
| 44 |
|
10 |
exposeResidualControlGrav(); |
| 45 |
|
10 |
exposeResidualFramePlacement(); |
| 46 |
|
10 |
exposeResidualFrameRotation(); |
| 47 |
|
10 |
exposeResidualFrameTranslation(); |
| 48 |
|
10 |
exposeResidualFrameVelocity(); |
| 49 |
|
10 |
exposeResidualImpulseCoM(); |
| 50 |
|
|
|
| 51 |
|
|
#ifdef PINOCCHIO_WITH_HPP_FCL |
| 52 |
|
10 |
exposeResidualPairCollision(); |
| 53 |
|
|
#endif |
| 54 |
|
|
|
| 55 |
|
10 |
exposeContact1D(); |
| 56 |
|
10 |
exposeContact2D(); |
| 57 |
|
10 |
exposeContact3D(); |
| 58 |
|
10 |
exposeContact6D(); |
| 59 |
|
10 |
exposeImpulse3D(); |
| 60 |
|
10 |
exposeImpulse6D(); |
| 61 |
|
10 |
} |
| 62 |
|
|
|
| 63 |
|
|
} // namespace python |
| 64 |
|
|
} // namespace crocoddyl |
| 65 |
|
|
|