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// Copyright (c) 2015-2020 CNRS INRIA |
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#include "pinocchio/bindings/python/algorithm/algorithms.hpp" |
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#include "pinocchio/algorithm/centroidal.hpp" |
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namespace pinocchio |
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{ |
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namespace python |
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{ |
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void exposeCentroidal() |
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{ |
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using namespace Eigen; |
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✓✗ |
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bp::def("computeCentroidalMomentum", |
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&computeCentroidalMomentum<double,0,JointCollectionDefaultTpl>, |
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✓✗ |
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bp::args("model","data"), |
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"Computes the Centroidal momentum, a.k.a. the total momentum of the system expressed around the center of mass.", |
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bp::return_value_policy<bp::return_by_value>()); |
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✓✗ |
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bp::def("computeCentroidalMomentum", |
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&computeCentroidalMomentum<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd>, |
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✓✗ |
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bp::args("model","data","q","v"), |
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"Computes the Centroidal momentum, a.k.a. the total momentum of the system expressed around the center of mass.", |
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bp::return_value_policy<bp::return_by_value>()); |
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✓✗ |
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bp::def("computeCentroidalMomentumTimeVariation", |
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&computeCentroidalMomentumTimeVariation<double,0,JointCollectionDefaultTpl>, |
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✓✗ |
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bp::args("model","data"), |
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"Computes the Centroidal momentum and its time derivatives, a.k.a. the total momentum of the system and its time derivative expressed around the center of mass.", |
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bp::return_value_policy<bp::return_by_value>()); |
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✓✗ |
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bp::def("computeCentroidalMomentumTimeVariation", |
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&computeCentroidalMomentumTimeVariation<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd,VectorXd>, |
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✓✗ |
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bp::args("model","data","q","v","a"), |
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"Computes the Centroidal momentum and its time derivatives, a.k.a. the total momentum of the system and its time derivative expressed around the center of mass.", |
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bp::return_value_policy<bp::return_by_value>()); |
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✓✗ |
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bp::def("ccrba", |
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&ccrba<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd>, |
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✓✗ |
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bp::args("model","data","q","v"), |
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"Computes the centroidal mapping, the centroidal momentum and the Centroidal Composite Rigid Body Inertia, puts the result in Data and returns the centroidal mapping." |
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"For the same price, it also computes the total joint jacobians (data.J).", |
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bp::return_value_policy<bp::return_by_value>()); |
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✓✗ |
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bp::def("computeCentroidalMap", |
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&computeCentroidalMap<double,0,JointCollectionDefaultTpl,VectorXd>, |
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✓✗ |
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bp::args("model","data","q"), |
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"Computes the centroidal mapping, puts the result in Data.Ag and returns the centroidal mapping.\n" |
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"For the same price, it also computes the total joint jacobians (data.J).", |
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bp::return_value_policy<bp::return_by_value>()); |
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✓✗ |
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bp::def("dccrba", |
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dccrba<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd>, |
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✓✗ |
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bp::args("model","data","q","v"), |
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"Computes the time derivative of the centroidal momentum matrix Ag in terms of q and v.\n" |
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"For the same price, it also computes the centroidal momentum matrix (data.Ag), the total joint jacobians (data.J) " |
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"and the related joint jacobians time derivative (data.dJ)", |
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bp::return_value_policy<bp::return_by_value>()); |
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✓✗ |
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bp::def("computeCentroidalMapTimeVariation", |
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computeCentroidalMapTimeVariation<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd>, |
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✓✗ |
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bp::args("model","data","q","v"), |
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"Computes the time derivative of the centroidal momentum matrix Ag, puts the result in Data.Ag and returns the centroidal mapping.\n" |
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"For the same price, it also computes the centroidal momentum matrix (data.Ag), the total joint jacobians (data.J) " |
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"and the related joint jacobians time derivative (data.dJ)", |
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bp::return_value_policy<bp::return_by_value>()); |
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} |
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} // namespace python |
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} // namespace pinocchio |