| Directory: | ./ |
|---|---|
| File: | bindings/python/algorithm/expose-centroidal.cpp |
| Date: | 2024-08-27 18:20:05 |
| Exec | Total | Coverage | |
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| Lines: | 19 | 26 | 73.1% |
| Branches: | 16 | 32 | 50.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2015-2020 CNRS INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #include "pinocchio/bindings/python/algorithm/algorithms.hpp" | ||
| 6 | #include "pinocchio/algorithm/centroidal.hpp" | ||
| 7 | |||
| 8 | namespace pinocchio | ||
| 9 | { | ||
| 10 | namespace python | ||
| 11 | { | ||
| 12 | |||
| 13 | 20 | void exposeCentroidal() | |
| 14 | { | ||
| 15 | typedef context::Scalar Scalar; | ||
| 16 | typedef context::VectorXs VectorXs; | ||
| 17 | enum | ||
| 18 | { | ||
| 19 | Options = context::Options | ||
| 20 | }; | ||
| 21 | |||
| 22 |
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20 | bp::def( |
| 23 | "computeCentroidalMomentum", | ||
| 24 | &computeCentroidalMomentum<Scalar, Options, JointCollectionDefaultTpl>, | ||
| 25 |
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40 | bp::args("model", "data"), |
| 26 | "Computes the Centroidal momentum, a.k.a. the total momentum of the system expressed " | ||
| 27 | "around the center of mass.", | ||
| 28 | ✗ | bp::return_value_policy<bp::return_by_value>()); | |
| 29 | |||
| 30 |
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20 | bp::def( |
| 31 | "computeCentroidalMomentum", | ||
| 32 | &computeCentroidalMomentum<Scalar, Options, JointCollectionDefaultTpl, VectorXs, VectorXs>, | ||
| 33 |
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40 | bp::args("model", "data", "q", "v"), |
| 34 | "Computes the Centroidal momentum, a.k.a. the total momentum of the system expressed " | ||
| 35 | "around the center of mass.", | ||
| 36 | ✗ | bp::return_value_policy<bp::return_by_value>()); | |
| 37 | |||
| 38 |
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20 | bp::def( |
| 39 | "computeCentroidalMomentumTimeVariation", | ||
| 40 | &computeCentroidalMomentumTimeVariation<Scalar, Options, JointCollectionDefaultTpl>, | ||
| 41 |
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40 | bp::args("model", "data"), |
| 42 | "Computes the Centroidal momentum and its time derivatives, a.k.a. the total " | ||
| 43 | "momentum of the system and its time derivative expressed around the center of mass.", | ||
| 44 | ✗ | bp::return_value_policy<bp::return_by_value>()); | |
| 45 | |||
| 46 |
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20 | bp::def( |
| 47 | "computeCentroidalMomentumTimeVariation", | ||
| 48 | &computeCentroidalMomentumTimeVariation< | ||
| 49 | Scalar, Options, JointCollectionDefaultTpl, VectorXs, VectorXs, VectorXs>, | ||
| 50 |
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40 | bp::args("model", "data", "q", "v", "a"), |
| 51 | "Computes the Centroidal momentum and its time derivatives, a.k.a. the total " | ||
| 52 | "momentum of the system and its time derivative expressed around the center of mass.", | ||
| 53 | ✗ | bp::return_value_policy<bp::return_by_value>()); | |
| 54 | |||
| 55 |
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20 | bp::def( |
| 56 | "ccrba", &ccrba<Scalar, Options, JointCollectionDefaultTpl, VectorXs, VectorXs>, | ||
| 57 |
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40 | bp::args("model", "data", "q", "v"), |
| 58 | "Computes the centroidal mapping, the centroidal momentum and the Centroidal Composite " | ||
| 59 | "Rigid Body Inertia, puts the result in Data and returns the centroidal mapping." | ||
| 60 | "For the same price, it also computes the total joint jacobians (data.J).", | ||
| 61 | ✗ | bp::return_value_policy<bp::return_by_value>()); | |
| 62 | |||
| 63 |
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20 | bp::def( |
| 64 | "computeCentroidalMap", | ||
| 65 | &computeCentroidalMap<Scalar, Options, JointCollectionDefaultTpl, VectorXs>, | ||
| 66 |
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40 | bp::args("model", "data", "q"), |
| 67 | "Computes the centroidal mapping, puts the result in Data.Ag and returns the " | ||
| 68 | "centroidal mapping.\n" | ||
| 69 | "For the same price, it also computes the total joint jacobians (data.J).", | ||
| 70 | ✗ | bp::return_value_policy<bp::return_by_value>()); | |
| 71 | |||
| 72 |
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20 | bp::def( |
| 73 | "dccrba", dccrba<Scalar, Options, JointCollectionDefaultTpl, VectorXs, VectorXs>, | ||
| 74 |
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40 | bp::args("model", "data", "q", "v"), |
| 75 | "Computes the time derivative of the centroidal momentum matrix Ag in terms of q and v.\n" | ||
| 76 | "For the same price, it also computes the centroidal momentum matrix (data.Ag), the total " | ||
| 77 | "joint jacobians (data.J) " | ||
| 78 | "and the related joint jacobians time derivative (data.dJ)", | ||
| 79 | ✗ | bp::return_value_policy<bp::return_by_value>()); | |
| 80 | |||
| 81 |
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20 | bp::def( |
| 82 | "computeCentroidalMapTimeVariation", | ||
| 83 | computeCentroidalMapTimeVariation< | ||
| 84 | Scalar, Options, JointCollectionDefaultTpl, VectorXs, VectorXs>, | ||
| 85 |
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40 | bp::args("model", "data", "q", "v"), |
| 86 | "Computes the time derivative of the centroidal momentum matrix Ag, puts the result " | ||
| 87 | "in Data.Ag and returns the centroidal mapping.\n" | ||
| 88 | "For the same price, it also computes the centroidal momentum matrix (data.Ag), the " | ||
| 89 | "total joint jacobians (data.J) " | ||
| 90 | "and the related joint jacobians time derivative (data.dJ)", | ||
| 91 | 20 | bp::return_value_policy<bp::return_by_value>()); | |
| 92 | 20 | } | |
| 93 | |||
| 94 | } // namespace python | ||
| 95 | } // namespace pinocchio | ||
| 96 |