Directory: | ./ |
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File: | bindings/python/algorithm/expose-energy.cpp |
Date: | 2024-08-27 18:20:05 |
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Lines: | 14 | 14 | 100.0% |
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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/energy.hpp" | ||
7 | |||
8 | namespace pinocchio | ||
9 | { | ||
10 | namespace python | ||
11 | { | ||
12 | |||
13 | 20 | void exposeEnergy() | |
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 | "computeKineticEnergy", | ||
24 | &computeKineticEnergy<Scalar, Options, JointCollectionDefaultTpl, VectorXs, VectorXs>, | ||
25 | 40 | bp::args("model", "data", "q", "v"), | |
26 | "Computes the forward kinematics and the kinematic energy of the system for the " | ||
27 | "given joint configuration and velocity given as input. The result is accessible " | ||
28 | "through data.kinetic_energy."); | ||
29 | |||
30 |
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20 | bp::def( |
31 | "computeKineticEnergy", &computeKineticEnergy<Scalar, Options, JointCollectionDefaultTpl>, | ||
32 | 40 | bp::args("model", "data"), | |
33 | "Computes the kinematic energy of the system for the " | ||
34 | "given joint placement and velocity stored in data. The result is accessible through " | ||
35 | "data.kinetic_energy."); | ||
36 | |||
37 |
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20 | bp::def( |
38 | "computePotentialEnergy", | ||
39 | &computePotentialEnergy<Scalar, Options, JointCollectionDefaultTpl, VectorXs>, | ||
40 | 40 | bp::args("model", "data", "q"), | |
41 | "Computes the potential energy of the system for the " | ||
42 | "given the joint configuration given as input. The result is accessible through " | ||
43 | "data.potential_energy."); | ||
44 | |||
45 |
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20 | bp::def( |
46 | "computePotentialEnergy", | ||
47 | &computePotentialEnergy<Scalar, Options, JointCollectionDefaultTpl>, | ||
48 | 40 | bp::args("model", "data"), | |
49 | "Computes the potential energy of the system for the " | ||
50 | "given joint placement stored in data. The result is accessible through " | ||
51 | "data.potential_energy."); | ||
52 | |||
53 |
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20 | bp::def( |
54 | "computeMechanicalEnergy", | ||
55 | &computeMechanicalEnergy<Scalar, Options, JointCollectionDefaultTpl, VectorXs, VectorXs>, | ||
56 | 40 | bp::args("model", "data", "q", "v"), | |
57 | "Computes the forward kinematics and the kinematic energy of the system for the " | ||
58 | "given joint configuration and velocity given as input. The result is accessible through " | ||
59 | "data.mechanical_energy.\n" | ||
60 | "A byproduct of this function is the computation of both data.kinetic_energy and " | ||
61 | "data.potential_energy too."); | ||
62 | |||
63 |
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20 | bp::def( |
64 | "computeMechanicalEnergy", | ||
65 | &computeMechanicalEnergy<Scalar, Options, JointCollectionDefaultTpl>, | ||
66 | 40 | bp::args("model", "data"), | |
67 | "Computes the mechanical energy of the system for the " | ||
68 | "given joint placement and velocity stored in data. The result is accessible through " | ||
69 | "data.mechanical_energy.\n" | ||
70 | "A byproduct of this function is the computation of both data.kinetic_energy and " | ||
71 | "data.potential_energy too."); | ||
72 | 20 | } | |
73 | |||
74 | } // namespace python | ||
75 | } // namespace pinocchio | ||
76 |