Directory: | ./ |
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File: | bindings/python/algorithm/expose-centroidal.cpp |
Date: | 2024-08-27 18:20:05 |
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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 |