Directory: | ./ |
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File: | bindings/python/algorithm/expose-impulse-dynamics-derivatives.cpp |
Date: | 2024-08-27 18:20:05 |
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Branches: | 14 | 28 | 50.0% |
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1 | // | ||
2 | // Copyright (c) 2020-2021 CNRS INRIA | ||
3 | // | ||
4 | |||
5 | #include "pinocchio/bindings/python/algorithm/algorithms.hpp" | ||
6 | #include "pinocchio/algorithm/impulse-dynamics-derivatives.hpp" | ||
7 | #include "pinocchio/algorithm/proximal.hpp" | ||
8 | #include "pinocchio/bindings/python/utils/std-vector.hpp" | ||
9 | |||
10 | namespace bp = boost::python; | ||
11 | |||
12 | namespace pinocchio | ||
13 | { | ||
14 | namespace python | ||
15 | { | ||
16 | |||
17 | typedef PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(context::RigidConstraintModel) | ||
18 | RigidConstraintModelVector; | ||
19 | typedef PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(context::RigidConstraintData) | ||
20 | RigidConstraintDataVector; | ||
21 | |||
22 | ✗ | static void impulseDynamicsDerivatives_proxy( | |
23 | const context::Model & model, | ||
24 | context::Data & data, | ||
25 | const RigidConstraintModelVector & contact_models, | ||
26 | RigidConstraintDataVector & contact_datas, | ||
27 | const context::Scalar & r_coeff, | ||
28 | const context::ProximalSettings & prox_settings) | ||
29 | { | ||
30 | ✗ | computeImpulseDynamicsDerivatives( | |
31 | model, data, contact_models, contact_datas, r_coeff, prox_settings); | ||
32 | ✗ | return; | |
33 | } | ||
34 | |||
35 | 20 | void exposeImpulseDynamicsDerivatives() | |
36 | { | ||
37 |
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20 | bp::def( |
38 | "computeImpulseDynamicsDerivatives", impulseDynamicsDerivatives_proxy, | ||
39 |
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40 | (bp::arg("model"), bp::arg("data"), bp::arg("contact_models"), bp::arg("contact_datas"), |
40 |
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40 | bp::arg("r_coeff") = 0, bp::arg("prox_settings") = context::ProximalSettings()), |
41 | "Computes the impulse dynamics derivatives with contact constraints according to a " | ||
42 | "given list of Contact information.\n" | ||
43 | "impulseDynamics should have been called before."); | ||
44 | 20 | } | |
45 | } // namespace python | ||
46 | } // namespace pinocchio | ||
47 |