| Directory: | ./ |
|---|---|
| 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 |