| Directory: | ./ |
|---|---|
| File: | bindings/python/algorithm/expose-crba.cpp |
| Date: | 2025-02-12 21:03:38 |
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| Lines: | 10 | 10 | 100.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2015-2021 CNRS | ||
| 3 | // | ||
| 4 | |||
| 5 | #include "pinocchio/bindings/python/algorithm/algorithms.hpp" | ||
| 6 | #include "pinocchio/bindings/python/utils/eigen.hpp" | ||
| 7 | #include "pinocchio/bindings/python/utils/namespace.hpp" | ||
| 8 | #include "pinocchio/algorithm/crba.hpp" | ||
| 9 | |||
| 10 | namespace pinocchio | ||
| 11 | { | ||
| 12 | namespace python | ||
| 13 | { | ||
| 14 | 12 | static context::MatrixXs crba_proxy( | |
| 15 | const context::Model & model, | ||
| 16 | context::Data & data, | ||
| 17 | const context::VectorXs & q, | ||
| 18 | const Convention convention) | ||
| 19 | { | ||
| 20 |
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12 | data.M.fill(context::Scalar(0)); |
| 21 | 12 | crba(model, data, q, convention); | |
| 22 | 12 | make_symmetric(data.M); | |
| 23 | 12 | return data.M; | |
| 24 | } | ||
| 25 | |||
| 26 | 69 | void exposeCRBA() | |
| 27 | { | ||
| 28 |
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69 | bp::def( |
| 29 | "crba", crba_proxy, | ||
| 30 |
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207 | (bp::arg("model"), bp::arg("data"), bp::arg("q"), |
| 31 |
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138 | bp::arg("convention") = pinocchio::Convention::LOCAL), |
| 32 | "Computes CRBA, store the result in Data and return it.\n" | ||
| 33 | "Parameters:\n" | ||
| 34 | "\tmodel: model of the kinematic tree\n" | ||
| 35 | "\tdata: data related to the model\n" | ||
| 36 | "\tq: the joint configuration vector (size model.nq)\n" | ||
| 37 | "\t convention: Convention to use"); | ||
| 38 | 69 | } | |
| 39 | |||
| 40 | } // namespace python | ||
| 41 | } // namespace pinocchio | ||
| 42 |