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// Copyright (c) 2015-2021 CNRS INRIA |
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// |
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#include "pinocchio/bindings/python/algorithm/algorithms.hpp" |
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#include "pinocchio/bindings/python/utils/list.hpp" |
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#include "pinocchio/algorithm/rnea.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 exposeRNEA() |
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{ |
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using namespace Eigen; |
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✓✗ |
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bp::def("rnea", |
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&rnea<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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"Compute the RNEA, store the result in Data and return it.\n\n" |
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"Parameters:\n" |
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"\tmodel: model of the kinematic tree\n" |
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"\tdata: data related to the model\n" |
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"\tq: the joint configuration vector (size model.nq)\n" |
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"\tv: the joint velocity vector (size model.nv)\n" |
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"\ta: the joint acceleration vector (size model.nv)\n", |
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bp::return_value_policy<bp::return_by_value>()); |
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✓✗ |
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bp::def("rnea", |
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&rnea<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd,VectorXd,Force>, |
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✓✗ |
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bp::args("model","data","q","v","a","fext"), |
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"Compute the RNEA with external forces, store the result in Data and return it.\n\n" |
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"Parameters:\n" |
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"\tmodel: model of the kinematic tree\n" |
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"\tdata: data related to the model\n" |
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"\tq: the joint configuration vector (size model.nq)\n" |
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"\tv: the joint velocity vector (size model.nv)\n" |
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"\ta: the joint acceleration vector (size model.nv)\n" |
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"\tfext: list of external forces expressed in the local frame of the joints (size model.njoints)\n", |
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bp::return_value_policy<bp::return_by_value>()); |
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✓✗ |
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bp::def("nonLinearEffects", |
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&nonLinearEffects<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd>, |
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✓✗ |
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bp::args("model","data","q","v"), |
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"Compute the Non Linear Effects (coriolis, centrifugal and gravitational effects), store the result in Data and return it.\n\n" |
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"Parameters:\n" |
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"\tmodel: model of the kinematic tree\n" |
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"\tdata: data related to the model\n" |
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"\tq: the joint configuration vector (size model.nq)\n" |
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"\tv: the joint velocity vector (size model.nv)\n", |
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bp::return_value_policy<bp::return_by_value>()); |
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✓✗ |
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bp::def("computeGeneralizedGravity", |
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&computeGeneralizedGravity<double,0,JointCollectionDefaultTpl,VectorXd>, |
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✓✗ |
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bp::args("model","data","q"), |
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"Compute the generalized gravity contribution g(q) of the Lagrangian dynamics, store the result in data.g and return it.\n\n" |
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"Parameters:\n" |
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"\tmodel: model of the kinematic tree\n" |
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"\tdata: data related to the model\n" |
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"\tq: the joint configuration vector (size model.nq)\n", |
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bp::return_value_policy<bp::return_by_value>()); |
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✓✗ |
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bp::def("computeStaticTorque", |
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&computeStaticTorque<double,0,JointCollectionDefaultTpl,VectorXd>, |
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✓✗ |
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bp::args("model","data","q","fext"), |
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"Computes the generalized static torque contribution g(q) - J.T f_ext of the Lagrangian dynamics, store the result in data.tau and return it.\n\n" |
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"Parameters:\n" |
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"\tmodel: model of the kinematic tree\n" |
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"\tdata: data related to the model\n" |
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"\tq: the joint configuration vector (size model.nq)\n" |
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"\tfext: list of external forces expressed in the local frame of the joints (size model.njoints)\n", |
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bp::return_value_policy<bp::return_by_value>()); |
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✓✗ |
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bp::def("computeCoriolisMatrix", |
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&computeCoriolisMatrix<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd>, |
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✓✗ |
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bp::args("model","data","q","v"), |
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"Compute the Coriolis Matrix C(q,v) of the Lagrangian dynamics, store the result in data.C and return it.\n\n" |
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"Parameters:\n" |
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"\tmodel: model of the kinematic tree\n" |
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"\tdata: data related to the model\n" |
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"\tq: the joint configuration vector (size model.nq)\n" |
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"\tv: the joint velocity vector (size model.nv)\n", |
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bp::return_value_policy<bp::return_by_value>()); |
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✓✗ |
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bp::def("getCoriolisMatrix", |
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&getCoriolisMatrix<double,0,JointCollectionDefaultTpl>, |
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✓✗ |
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bp::args("model","data"), |
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"Retrives the Coriolis Matrix C(q,v) of the Lagrangian dynamics after calling one of the derivative algorithms, store the result in data.C and return it.\n\n" |
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"Parameters:\n" |
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"\tmodel: model of the kinematic tree\n" |
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"\tdata: data related to the model\n", |
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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 |