pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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classic-acceleration.hpp
1//
2// Copyright (c) 2019-2020 INRIA
3//
4
5#include "pinocchio/bindings/python/fwd.hpp"
6#include "pinocchio/spatial/classic-acceleration.hpp"
7
8namespace pinocchio
9{
10 namespace python
11 {
12 namespace bp = boost::python;
13
14 void exposeClassicAcceleration()
15 {
16 bp::def(
17 "classicAcceleration", &classicAcceleration<context::Motion, context::Motion>,
18 bp::args("spatial_velocity", "spatial_acceleration"),
19 "Computes the classic acceleration from a given spatial velocity and spatial "
20 "acceleration.");
21
22 bp::def(
23 "classicAcceleration",
24 &classicAcceleration<context::Motion, context::Motion, context::Scalar, context::Options>,
25 bp::args("spatial_velocity", "spatial_acceleration", "placement"),
26 "Computes the classic acceleration of a frame B, given the spatial velocity and spatial "
27 "acceleration of a frame A,\n"
28 "and the relative placement A^M_B.");
29 }
30
31 } // namespace python
32} // namespace pinocchio
Main pinocchio namespace.
Definition treeview.dox:11