Directory: | ./ |
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File: | bindings/python/algorithm/expose-impulse-dynamics.cpp |
Date: | 2024-08-27 18:20:05 |
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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/bindings/python/utils/std-vector.hpp" | ||
7 | #include "pinocchio/algorithm/impulse-dynamics.hpp" | ||
8 | |||
9 | namespace bp = boost::python; | ||
10 | |||
11 | namespace pinocchio | ||
12 | { | ||
13 | namespace python | ||
14 | { | ||
15 | |||
16 | #ifndef PINOCCHIO_PYTHON_SKIP_ALGORITHM_IMPULSE_DYNAMICS | ||
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 const context::VectorXs impulseDynamics_proxy( | |
23 | const context::Model & model, | ||
24 | context::Data & data, | ||
25 | const context::VectorXs & q, | ||
26 | const context::VectorXs & v, | ||
27 | const RigidConstraintModelVector & contact_models, | ||
28 | RigidConstraintDataVector & contact_datas, | ||
29 | const context::Scalar r_coeff, | ||
30 | const context::ProximalSettings & prox_settings) | ||
31 | { | ||
32 | ✗ | return impulseDynamics( | |
33 | ✗ | model, data, q, v, contact_models, contact_datas, r_coeff, prox_settings); | |
34 | } | ||
35 | #endif // PINOCCHIO_PYTHON_SKIP_ALGORITHM_IMPULSE_DYNAMICS | ||
36 | |||
37 | 20 | void exposeImpulseDynamics() | |
38 | { | ||
39 | #ifndef PINOCCHIO_PYTHON_SKIP_ALGORITHM_IMPULSE_DYNAMICS | ||
40 |
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20 | bp::def( |
41 | "impulseDynamics", impulseDynamics_proxy, | ||
42 |
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60 | (bp::arg("model"), bp::arg("data"), bp::arg("q"), bp::arg("v"), bp::arg("contact_models"), |
43 |
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80 | bp::arg("contact_datas"), bp::arg("r_coeff") = 0, |
44 |
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40 | bp::arg("prox_settings") = context::ProximalSettings()), |
45 | "Computes the impulse dynamics with contact constraints according to a given list of " | ||
46 | "Contact information.\n" | ||
47 | "When using impulseDynamics for the first time, you should call first " | ||
48 | "initConstraintDynamics to initialize the internal memory used in the algorithm.\n" | ||
49 | "This function returns the after-impulse velocity of the system. The impulses acting " | ||
50 | "on the contacts are stored in the list data.contact_forces."); | ||
51 | #endif // PINOCCHIO_PYTHON_SKIP_ALGORITHM_IMPULSE_DYNAMICS | ||
52 | 20 | } | |
53 | } // namespace python | ||
54 | } // namespace pinocchio | ||
55 |