| Line |
Branch |
Exec |
Source |
| 1 |
|
|
// |
| 2 |
|
|
// Copyright (c) 2015-2022 CNRS INRIA |
| 3 |
|
|
// |
| 4 |
|
|
|
| 5 |
|
|
#include "pinocchio/bindings/python/algorithm/algorithms.hpp" |
| 6 |
|
|
|
| 7 |
|
|
namespace pinocchio |
| 8 |
|
|
{ |
| 9 |
|
|
namespace python |
| 10 |
|
|
{ |
| 11 |
|
|
|
| 12 |
|
72 |
void exposeAlgorithms() |
| 13 |
|
|
{ |
| 14 |
|
72 |
exposeJointsAlgo(); |
| 15 |
|
72 |
exposeABA(); |
| 16 |
|
72 |
exposeCRBA(); |
| 17 |
|
72 |
exposeCentroidal(); |
| 18 |
|
72 |
exposeRNEA(); |
| 19 |
|
72 |
exposeCOM(); |
| 20 |
|
72 |
exposeFramesAlgo(); |
| 21 |
|
72 |
exposeEnergy(); |
| 22 |
|
72 |
exposeKinematics(); |
| 23 |
|
|
|
| 24 |
|
72 |
exposeContactJacobian(); |
| 25 |
|
72 |
exposeConstraintDynamics(); |
| 26 |
|
72 |
exposeConstraintDynamicsDerivatives(); |
| 27 |
|
72 |
exposeContactDynamics(); |
| 28 |
|
72 |
exposeContactInverseDynamics(); |
| 29 |
|
72 |
exposeDelassus(); |
| 30 |
|
72 |
exposeCAT(); |
| 31 |
|
72 |
exposeJacobian(); |
| 32 |
|
|
#if defined(PINOCCHIO_PYTHON_INTERFACE_MAIN_MODULE) |
| 33 |
|
68 |
exposeGeometryAlgo(); |
| 34 |
|
|
#endif // defined(PINOCCHIO_PYTHON_INTERFACE_MAIN_MODULE) |
| 35 |
|
72 |
exposeKinematicRegressor(); |
| 36 |
|
72 |
exposeRegressor(); |
| 37 |
|
72 |
exposeCholesky(); |
| 38 |
|
72 |
exposeModelAlgo(); |
| 39 |
|
72 |
exposeImpulseDynamics(); |
| 40 |
|
|
|
| 41 |
|
|
// expose derivative version of the algorithms |
| 42 |
|
72 |
exposeRNEADerivatives(); |
| 43 |
|
72 |
exposeABADerivatives(); |
| 44 |
|
72 |
exposeKinematicsDerivatives(); |
| 45 |
|
72 |
exposeFramesDerivatives(); |
| 46 |
|
72 |
exposeCentroidalDerivatives(); |
| 47 |
|
72 |
exposeImpulseDynamicsDerivatives(); |
| 48 |
|
|
|
| 49 |
|
72 |
exposeCones(); |
| 50 |
|
|
|
| 51 |
|
72 |
exposeContactSolvers(); |
| 52 |
|
72 |
} |
| 53 |
|
|
|
| 54 |
|
|
} // namespace python |
| 55 |
|
|
} // namespace pinocchio |
| 56 |
|
|
|