Directory: | ./ |
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File: | include/pinocchio/bindings/python/spatial/classic-acceleration.hpp |
Date: | 2024-08-27 18:20:05 |
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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 | 20 | void exposeClassicAcceleration() | |
15 | { | ||
16 |
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20 | bp::def( |
17 | "classicAcceleration", &classicAcceleration<context::Motion, context::Motion>, | ||
18 | 40 | 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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20 | bp::def( |
23 | "classicAcceleration", | ||
24 | &classicAcceleration<context::Motion, context::Motion, context::Scalar, context::Options>, | ||
25 | 40 | 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 | 20 | } | |
30 | |||
31 | } // namespace python | ||
32 | } // namespace pinocchio | ||
33 |