| Directory: | ./ |
|---|---|
| File: | include/pinocchio/bindings/python/spatial/classic-acceleration.hpp |
| Date: | 2025-02-12 21:03:38 |
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| Lines: | 6 | 6 | 100.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2019-2020 INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #include "pinocchio/bindings/python/fwd.hpp" | ||
| 6 | #include "pinocchio/spatial/classic-acceleration.hpp" | ||
| 7 | |||
| 8 | namespace pinocchio | ||
| 9 | { | ||
| 10 | namespace python | ||
| 11 | { | ||
| 12 | namespace bp = boost::python; | ||
| 13 | |||
| 14 | 69 | void exposeClassicAcceleration() | |
| 15 | { | ||
| 16 |
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69 | bp::def( |
| 17 | "classicAcceleration", &classicAcceleration<context::Motion, context::Motion>, | ||
| 18 | 138 | bp::args("spatial_velocity", "spatial_acceleration"), | |
| 19 | "Computes the classic acceleration from a given spatial velocity and spatial " | ||
| 20 | "acceleration."); | ||
| 21 | |||
| 22 |
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69 | bp::def( |
| 23 | "classicAcceleration", | ||
| 24 | &classicAcceleration<context::Motion, context::Motion, context::Scalar, context::Options>, | ||
| 25 | 138 | 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 | 69 | } | |
| 30 | |||
| 31 | } // namespace python | ||
| 32 | } // namespace pinocchio | ||
| 33 |