Directory: | ./ |
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File: | bindings/python/algorithm/expose-geometry.cpp |
Date: | 2024-08-27 18:20:05 |
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Lines: | 6 | 6 | 100.0% |
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1 | // | ||
2 | // Copyright (c) 2015-2022 CNRS INRIA | ||
3 | // | ||
4 | |||
5 | #include "pinocchio/bindings/python/algorithm/algorithms.hpp" | ||
6 | #include "pinocchio/algorithm/geometry.hpp" | ||
7 | |||
8 | namespace pinocchio | ||
9 | { | ||
10 | namespace python | ||
11 | { | ||
12 | |||
13 | 20 | void exposeGeometryAlgo() | |
14 | { | ||
15 | using namespace Eigen; | ||
16 | |||
17 |
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20 | bp::def( |
18 | "updateGeometryPlacements", | ||
19 | &updateGeometryPlacements<double, 0, JointCollectionDefaultTpl, VectorXd>, | ||
20 | 40 | bp::args("model", "data", "geometry_model", "geometry_data", "q"), | |
21 | "Update the placement of the collision objects according to the current configuration.\n" | ||
22 | "The algorithm also updates the current placement of the joint in Data."); | ||
23 | |||
24 |
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20 | bp::def( |
25 | "updateGeometryPlacements", &updateGeometryPlacements<double, 0, JointCollectionDefaultTpl>, | ||
26 | 40 | bp::args("model", "data", "geometry_model", "geometry_data"), | |
27 | "Update the placement of the collision objects according to the current joint " | ||
28 | "placement stored in data."); | ||
29 | 20 | } | |
30 | } // namespace python | ||
31 | } // namespace pinocchio | ||
32 |