pinocchio::python Namespace Reference

Namespaces
	details
	internal

Classes
struct	call
struct	call< ForceTpl< Scalar, Options > >
struct	call< InertiaTpl< Scalar, Options > >
struct	call< MotionTpl< Scalar, Options > >
struct	call< SE3Tpl< Scalar, Options > >
struct	CollisionPairPythonVisitor
struct	convert_boost_python_object
struct	convert_type
struct	convert_type< void >
struct	CopyableVisitor
	Add the Python method copy to allow a copy of this by calling the copy constructor. More...
struct	DataPythonVisitor
struct	deprecated_function
struct	deprecated_member
struct	deprecated_warning_policy
struct	ForcePythonVisitor
struct	FramePythonVisitor
struct	GeometryDataPythonVisitor
struct	GeometryModelPythonVisitor
struct	GeometryObjectPythonVisitor
struct	GeometryPoolPythonVisitor
struct	InertiaPythonVisitor
struct	JointDataDerivedPythonVisitor
struct	JointDataExposer
struct	JointModelCompositeAddJointVisitor
struct	JointModelCompositeConstructorVisitor
struct	JointModelDerivedPythonVisitor
struct	JointModelExposer
struct	JointModelPythonVisitor
struct	JointVariantVisitor
struct	LieGroupPythonVisitor
struct	LieGroupWrapperTpl
struct	ModelPoolPythonVisitor
struct	ModelPythonVisitor
struct	MotionPythonVisitor
struct	PickleData
struct	PickleMap
	Create a pickle interface for the std::map and aligned map. More...
struct	PickleModel
struct	PickleVector
	Create a pickle interface for the std::vector and aligned vector. More...
struct	PrintableVisitor
	Set the Python method str and repr to use the overloading operator<<. More...
struct	SE3PythonVisitor
struct	SerializableVisitor
struct	StdAlignedVectorPythonVisitor
	Expose an container::aligned_vector from a type given as template argument. More...
struct	StdContainerFromPythonList
	Register the conversion from a Python list to a std::vector. More...
struct	StdVectorPythonVisitor
	Expose an std::vector from a type given as template argument. More...

Typedefs
typedef Eigen::Map< const SE3::Quaternion >	QuatConstMap
typedef Eigen::Map< SE3::Quaternion >	QuatMap
typedef SE3::Scalar	Scalar
typedef Eigen::Matrix< Scalar, 7, 1 >	Vector7d
typedef Eigen::Matrix< bool, Eigen::Dynamic, 1 >	VectorXb
typedef Eigen::Matrix< Scalar, Eigen::Dynamic, 1 >	VectorXd

Functions
static Eigen::MatrixXd	aba_proxy (const int num_thread, ModelPool &pool, const Eigen::MatrixXd &q, const Eigen::MatrixXd &v, const Eigen::MatrixXd &tau)
static void	aba_proxy_res (const int num_thread, ModelPool &pool, const Eigen::MatrixXd &q, const Eigen::MatrixXd &v, const Eigen::MatrixXd &tau, Eigen::Ref< Eigen::MatrixXd > a)
static JointModelComposite &	addJoint_proxy (JointModelComposite &joint_composite, const JointModel &jmodel, const SE3 &joint_placement=SE3::Identity())
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>
bp::tuple	appendModel_proxy (const ModelTpl< Scalar, Options, JointCollectionTpl > &modelA, const ModelTpl< Scalar, Options, JointCollectionTpl > &modelB, const GeometryModel &geomModelA, const GeometryModel &geomModelB, const FrameIndex frameInModelA, const SE3Tpl< Scalar, Options > &aMb)
Eigen::MatrixXd	bodyRegressor_proxy (const Motion &v, const Motion &a)
	BOOST_PYTHON_FUNCTION_OVERLOADS (removeCollisionPairs_overload, srdf::removeCollisionPairs, 3, 4) BOOST_PYTHON_FUNCTION_OVERLOADS(removeCollisionPairsFromXML_overload
	BOOST_PYTHON_FUNCTION_OVERLOADS (loadReferenceConfigurations_overload, srdf::loadReferenceConfigurations, 2, 3) void loadReferenceConfigurationsFromXML(Model &model
	BOOST_PYTHON_FUNCTION_OVERLOADS (computeKKTContactDynamicMatrixInverse_overload, computeKKTContactDynamicMatrixInverse_proxy, 4, 5) static const Eigen
static void	buffer_copy (boost::asio::streambuf &dest, const boost::asio::streambuf &source)
Model	buildModel (const std::string &filename, const std::string &var_name="model")
	Load a model from a Python script. More...
PINOCCHIO_DEPRECATED Model	buildModel (const std::string &filename, const std::string &var_name, const bool)
	Load a model from a Python script. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
bp::tuple	buildReducedModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const GeometryModel &geom_model, const std::vector< JointIndex > &list_of_joints_to_lock, const Eigen::MatrixBase< ConfigVectorType > &reference_configuration)
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
bp::tuple	buildReducedModel (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const std::vector< GeometryModel, Eigen::aligned_allocator< GeometryModel > > &list_of_geom_models, const std::vector< JointIndex > &list_of_joints_to_lock, const Eigen::MatrixBase< ConfigVectorType > &reference_configuration)
Model	buildSampleModelHumanoid ()
Model	buildSampleModelHumanoid (bool usingFF)
Model	buildSampleModelHumanoidRandom ()
Model	buildSampleModelHumanoidRandom (bool usingFF)
Model	buildSampleModelManipulator ()
static SE3::Vector3	com_0_proxy (const Model &model, Data &data, const Eigen::VectorXd &q, bool computeSubtreeComs=true)
static SE3::Vector3	com_1_proxy (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, bool computeSubtreeComs=true)
static SE3::Vector3	com_2_proxy (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &a, bool computeSubtreeComs=true)
static const Data::Vector3 &	com_default_proxy (const Model &model, Data &data, bool computeSubtreeComs=true)
static const Data::Vector3 &	com_level_proxy (const Model &model, Data &data, KinematicLevel kinematic_level, bool computeSubtreeComs=true)
static void	com_level_proxy_deprecated_signature (const Model &model, Data &data, int kinematic_level, bool computeSubtreeComs=true)
static Data::Matrix6x	compute_frame_jacobian_proxy (const Model &model, Data &data, const Eigen::VectorXd &q, Model::FrameIndex frame_id)
static Data::Matrix6x	compute_frame_jacobian_proxy (const Model &model, Data &data, const Eigen::VectorXd &q, Model::FrameIndex frame_id, ReferenceFrame reference_frame)
static Data::Matrix6x	compute_jacobian_proxy (const Model &model, Data &data, const Eigen::VectorXd &q, Model::JointIndex jointId)
bp::tuple	computeABADerivatives_fext (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &tau, const ForceAlignedVector &fext)
bp::tuple	computeABADerivativesDefault (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &tau)
static void	computeAllTerms_proxy (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v)
bp::tuple	computeCentroidalDynamicsDerivatives_proxy (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &a)
static bool	computeCollisions_full_proxy (const int num_threads, const Model &model, Data &data, const GeometryModel &geom_model, GeometryData &geom_data, const Eigen::VectorXd &q, const bool stopAtFirstCollision=false)
static VectorXb	computeCollisions_pool_proxy (const int num_thread, GeometryPool &pool, const Eigen::MatrixXd &q, bool stop_at_first_collision=false)
static void	computeCollisions_pool_proxy_res (const int num_thread, GeometryPool &pool, const Eigen::MatrixXd &q, Eigen::Ref< VectorXb > res, bool stop_at_first_collision=false)
static bool	computeCollisions_proxy (const int num_threads, const GeometryModel &geom_model, GeometryData &geom_data, const bool stopAtFirstCollision=false)
Data::MatrixXs	computeGeneralizedGravityDerivatives (const Model &model, Data &data, const Eigen::VectorXd &q)
static Eigen::MatrixXd	computeKKTContactDynamicMatrixInverse_proxy (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::MatrixXd &J, const double mu=0)
const Data::RowMatrixXs &	computeMinverse_proxy (const Model &model, Data &data, const Eigen::VectorXd &q)
bp::tuple	computeRNEADerivatives (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &a)
bp::tuple	computeRNEADerivatives_fext (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &a, const ForceAlignedVector &fext)
Data::MatrixXs	computeStaticTorqueDerivatives (const Model &model, Data &data, const Eigen::VectorXd &q, const ForceAlignedVector &fext)
static Eigen::MatrixXd	crba_proxy (const Model &model, Data &data, const Eigen::VectorXd &q)
Eigen::MatrixXd	dDifference_arg_proxy (const Model &model, const Eigen::VectorXd &q1, const Eigen::VectorXd &q2, const ArgumentPosition arg)
bp::tuple	dDifference_proxy (const Model &model, const Eigen::VectorXd &q1, const Eigen::VectorXd &q2)
template<typename T >
py::object	default_arg (T t)
Eigen::MatrixXd	dIntegrate_arg_proxy (const Model &model, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const ArgumentPosition arg)
bp::tuple	dIntegrate_proxy (const Model &model, const Eigen::VectorXd &q, const Eigen::VectorXd &v)
Eigen::MatrixXd	dIntegrateTransport_proxy (const Model &model, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::MatrixXd &Jin, const ArgumentPosition arg)
template<typename Vector3Like >
Eigen::Matrix< typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options >	exp3_proxy (const Vector3Like &v)
template<typename Scalar , int Options>
SE3Tpl< Scalar, Options >	exp6_proxy (const MotionTpl< Scalar, Options > &v)
template<typename Vector6Like >
SE3Tpl< typename Vector6Like::Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6Like)::Options >	exp6_proxy (const Vector6Like &vec6)
template<class T >
bp::class_< T > &	expose_joint_data (bp::class_< T > &cl)
template<>
bp::class_< JointDataComposite > &	expose_joint_data< JointDataComposite > (bp::class_< JointDataComposite > &cl)
template<>
bp::class_< JointDataPlanar > &	expose_joint_data< JointDataPlanar > (bp::class_< JointDataPlanar > &cl)
template<>
bp::class_< JointDataPrismaticUnaligned > &	expose_joint_data< JointDataPrismaticUnaligned > (bp::class_< JointDataPrismaticUnaligned > &cl)
template<>
bp::class_< JointDataRevoluteUnaligned > &	expose_joint_data< JointDataRevoluteUnaligned > (bp::class_< JointDataRevoluteUnaligned > &cl)
template<>
bp::class_< JointDataSphericalZYX > &	expose_joint_data< JointDataSphericalZYX > (bp::class_< JointDataSphericalZYX > &cl)
template<class T >
bp::class_< T > &	expose_joint_model (bp::class_< T > &cl)
template<>
bp::class_< JointModelComposite > &	expose_joint_model< JointModelComposite > (bp::class_< JointModelComposite > &cl)
template<>
bp::class_< JointModelPrismaticUnaligned > &	expose_joint_model< JointModelPrismaticUnaligned > (bp::class_< JointModelPrismaticUnaligned > &cl)
template<>
bp::class_< JointModelRevoluteUnaligned > &	expose_joint_model< JointModelRevoluteUnaligned > (bp::class_< JointModelRevoluteUnaligned > &cl)
void	exposeABA ()
void	exposeABADerivatives ()
void	exposeAlgorithms ()
void	exposeCAT ()
void	exposeCentroidal ()
void	exposeCentroidalDerivatives ()
void	exposeCholesky ()
void	exposeCOM ()
void	exposeConversions ()
void	exposeCRBA ()
void	exposeData ()
void	exposeDependencies ()
void	exposeDynamics ()
void	exposeEnergy ()
void	exposeExplog ()
void	exposeFCL ()
void	exposeForce ()
void	exposeFrame ()
void	exposeFramesAlgo ()
void	exposeFramesDerivatives ()
void	exposeGeometry ()
void	exposeGeometryAlgo ()
void	exposeInertia ()
void	exposeJacobian ()
void	exposeJoints ()
void	exposeJointsAlgo ()
void	exposeKinematicRegressor ()
void	exposeKinematics ()
void	exposeKinematicsDerivatives ()
void	exposeLieGroups ()
void	exposeModel ()
void	exposeModelAlgo ()
void	exposeMotion ()
void	exposeParallelABA ()
void	exposeParallelAlgorithms ()
void	exposeParallelGeometry ()
void	exposeParallelRNEA ()
void	exposeParsers ()
void	exposePool ()
void	exposeRegressor ()
void	exposeRNEA ()
void	exposeRNEADerivatives ()
void	exposeRpy ()
void	exposeSampleModels ()
void	exposeSE3 ()
void	exposeSerialization ()
void	exposeSkew ()
void	exposeSRDFParser ()
void	exposeURDFGeometry ()
void	exposeURDFModel ()
void	exposeURDFParser ()
void	exposeVersion ()
template<typename T , class Allocator >
void	extract (const boost::python::list &list, std::vector< T, Allocator > &vec)
template<typename T >
std::vector< T, std::allocator< T > >	extract (const boost::python::list &list)
template<typename T , class Allocator >
std::vector< T, Allocator >	extract (const boost::python::list &list)
static const Eigen::VectorXd	forwardDynamics_proxy (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &tau, const Eigen::MatrixXd &J, const Eigen::VectorXd &gamma, const double inv_damping=0.0)
static const Eigen::VectorXd	forwardDynamics_proxy_no_q (const Model &model, Data &data, const Eigen::VectorXd &tau, const Eigen::MatrixXd &J, const Eigen::VectorXd &gamma, const double inv_damping=0.0)
static Data::Matrix6x	frame_jacobian_time_variation_proxy (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Model::FrameIndex frame_id, const ReferenceFrame rf)
Eigen::MatrixXd	frameBodyRegressor_proxy (const Model &model, Data &data, const FrameIndex frameId)
template<typename ReturnType >
ReturnType &	from (py::handle model)
static Data::Matrix6x	get_frame_jacobian_proxy (const Model &model, Data &data, const Model::FrameIndex frame_id, ReferenceFrame rf)
static Data::Matrix6x	get_frame_jacobian_time_variation_proxy (const Model &model, Data &data, Model::FrameIndex jointId, ReferenceFrame rf)
static Data::Matrix6x	get_jacobian_proxy (const Model &model, Data &data, Model::JointIndex jointId, ReferenceFrame rf)
static Data::Matrix3x	get_jacobian_subtree_com_proxy (const Model &model, Data &data, Model::JointIndex jointId)
static Data::Matrix6x	get_jacobian_time_variation_proxy (const Model &model, Data &data, Model::JointIndex jointId, ReferenceFrame rf)
bp::tuple	getCentroidalDynamicsDerivatives_proxy (const Model &model, Data &data)
Data::Matrix3x	getCoMVelocityDerivatives_proxy (const Model &model, Data &data)
bp::tuple	getFrameAccelerationDerivatives_proxy (const Model &model, Data &data, const Model::FrameIndex frame_id, ReferenceFrame rf)
bp::tuple	getFrameVelocityDerivatives_proxy (const Model &model, Data &data, const Model::FrameIndex frame_id, ReferenceFrame rf)
bp::tuple	getJointAccelerationDerivatives_proxy (const Model &model, Data &data, const Model::JointIndex jointId, ReferenceFrame rf)
bp::tuple	getJointVelocityDerivatives_proxy (const Model &model, Data &data, const Model::JointIndex jointId, ReferenceFrame rf)
boost::python::object	getOrCreatePythonNamespace (const std::string &submodule_name)
	Helper to create or simply return an existing namespace in Python. More...
	Hlog3 (M, v, res)
static const Eigen::VectorXd	impulseDynamics_proxy (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v_before, const Eigen::MatrixXd &J, const double r_coeff=0., const double inv_damping=0.)
static const Eigen::VectorXd	impulseDynamics_proxy_no_q (const Model &model, Data &data, const Eigen::VectorXd &v_before, const Eigen::MatrixXd &J, const double r_coeff=0., const double inv_damping=0.)
static JointModelComposite *	init_proxy1 (const JointModel &jmodel)
static JointModelComposite *	init_proxy2 (const JointModel &jmodel, const SE3 &joint_placement)
static Data::Matrix3x	jacobian_subtree_com_kinematics_proxy (const Model &model, Data &data, const Eigen::VectorXd &q, Model::JointIndex jointId)
static Data::Matrix3x	jacobian_subtree_com_proxy (const Model &model, Data &data, Model::JointIndex jointId)
template<typename Vector3Like >
Eigen::Matrix< typename Vector3Like::Scalar, 3, 3, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options >	Jexp3_proxy (const Vector3Like &v)
template<typename Scalar , int Options>
MotionTpl< Scalar, Options >::Matrix6	Jexp6_proxy (const MotionTpl< Scalar, Options > &v)
template<typename Vector6Like >
Eigen::Matrix< typename Vector6Like::Scalar, 6, 6, PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6Like)::Options >	Jexp6_proxy (const Vector6Like &vec6)
template<typename Scalar , int Options>
SE3Tpl< Scalar, Options >::Matrix6	Jlog6_proxy (const SE3Tpl< Scalar, Options > &M)
Eigen::MatrixXd	jointBodyRegressor_proxy (const Model &model, Data &data, const JointIndex jointId)
template<typename Matrix3Like >
Eigen::Matrix< typename Matrix3Like::Scalar, 3, 1, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options >	log3_proxy (const Matrix3Like &R)
template<typename Matrix4Like >
MotionTpl< typename Matrix4Like::Scalar, PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix4Like)::Options >	log6_proxy (const Matrix4Like &homegenous_matrix)
template<typename R , typename... Args>
internal::function_wrapper< R(*)(Args...)>	make_pybind11_function (R(*func)(Args...))
	Creates a function wrapper. More...
template<typename Matrix >
Eigen::Ref< Matrix >	make_ref (Eigen::PlainObjectBase< Matrix > &mat)
template<typename Matrix >
void	make_symmetric (Eigen::MatrixBase< Matrix > &mat)
template<typename LgType >
CartesianProductOperationVariantTpl< double, 0, LieGroupCollectionDefaultTpl >	makeLieGroup ()
CartesianProductOperationVariantTpl< double, 0, LieGroupCollectionDefaultTpl >	makeRn (int n)
static Eigen::VectorXd	normalize_proxy (const Model &model, const Eigen::VectorXd &config)
typedef	PINOCCHIO_ALIGNED_STD_VECTOR (Force) ForceAlignedVector
template<typename Matrix >
	PINOCCHIO_EIGEN_PLAIN_TYPE (Matrix) make_copy(const Eigen
template<typename Matrix3Like >
	PINOCCHIO_EIGEN_PLAIN_TYPE (Matrix3Like) Jlog3_proxy(const Matrix3Like &M)
template<typename Matrix3Like , typename Vector3Like >
	PINOCCHIO_EIGEN_PLAIN_TYPE (Matrix3Like) Hlog3_proxy(const Matrix3Like &M
static boost::asio::streambuf &	prepare_proxy (boost::asio::streambuf &self, const std::size_t n)
static Eigen::VectorXd	randomConfiguration_proxy (const Model &model)
template<typename T >
bool	register_symbolic_link_to_registered_type ()
static Eigen::MatrixXd	rnea_proxy (const int num_thread, ModelPool &pool, const Eigen::MatrixXd &q, const Eigen::MatrixXd &v, const Eigen::MatrixXd &a)
static void	rnea_proxy_res (const int num_thread, ModelPool &pool, const Eigen::MatrixXd &q, const Eigen::MatrixXd &v, const Eigen::MatrixXd &a, Eigen::Ref< Eigen::MatrixXd > tau)
Eigen::Matrix3d	rotate (const std::string &axis, const double ang)
template<typename T >
std::string	sanitizedClassname ()
VectorXd	SE3ToXYZQUAT (const SE3 &M)
bp::tuple	SE3ToXYZQUATtuple (const SE3 &M)
template<typename T >
void	serialize ()
template<typename Vector3 >
Eigen::Matrix< typename Vector3::Scalar, 3, 3, Vector3::Options >	skew (const Vector3 &v)
template<typename Vector3 >
Eigen::Matrix< typename Vector3::Scalar, 3, 3, Vector3::Options >	skewSquare (const Vector3 &u, const Vector3 &v)
template<typename T >
py::object	to (T &t)
template<typename T >
py::object	to (T *t)
template<typename Matrix3 >
Eigen::Matrix< typename Matrix3::Scalar, 3, 1, Matrix3::Options >	unSkew (const Matrix3 &mat)
template<typename TupleOrList >
SE3	XYZQUATToSE3_bp (const TupleOrList &v)
template<typename Vector7Like >
SE3	XYZQUATToSE3_ei (const Vector7Like &v)

Variables
ReturnType	res
const Vector3Like &	v
const std::string &	xmlStream

Typedef Documentation

QuatConstMap

typedef Eigen::Map<const SE3::Quaternion> pinocchio::python::QuatConstMap

Definition at line 17 of file conversions.cpp.

QuatMap

typedef Eigen::Map< SE3::Quaternion> pinocchio::python::QuatMap

Definition at line 16 of file conversions.cpp.

Scalar

typedef SE3::Scalar pinocchio::python::Scalar

Definition at line 13 of file conversions.cpp.

Vector7d

typedef Eigen::Matrix<Scalar, 7,1> pinocchio::python::Vector7d

Definition at line 15 of file conversions.cpp.

VectorXb

typedef Eigen::Matrix<bool,Eigen::Dynamic,1> pinocchio::python::VectorXb

Definition at line 16 of file bindings/python/algorithm/parallel/geometry.cpp.

VectorXd

typedef Eigen::Matrix<Scalar, Eigen::Dynamic,1> pinocchio::python::VectorXd

Definition at line 14 of file conversions.cpp.

Function Documentation

aba_proxy()

static Eigen::MatrixXd pinocchio::python::aba_proxy ( const int  num_thread, ModelPool &  pool, const Eigen::MatrixXd &  q, const Eigen::MatrixXd &  v, const Eigen::MatrixXd &  tau  )

static

Definition at line 22 of file bindings/python/algorithm/parallel/aba.cpp.

aba_proxy_res()

static void pinocchio::python::aba_proxy_res ( const int  num_thread, ModelPool &  pool, const Eigen::MatrixXd &  q, const Eigen::MatrixXd &  v, const Eigen::MatrixXd &  tau, Eigen::Ref< Eigen::MatrixXd >  a  )

static

Definition at line 15 of file bindings/python/algorithm/parallel/aba.cpp.

addJoint_proxy()

static JointModelComposite& pinocchio::python::addJoint_proxy ( JointModelComposite &  joint_composite, const JointModel &  jmodel, const SE3 &  joint_placement = SE3::Identity()  )

static

Definition at line 78 of file joints-models.hpp.

appendModel_proxy()

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl>

bp::tuple pinocchio::python::appendModel_proxy	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	modelA,
		const ModelTpl< Scalar, Options, JointCollectionTpl > &	modelB,
		const GeometryModel &	geomModelA,
		const GeometryModel &	geomModelB,
		const FrameIndex	frameInModelA,
		const SE3Tpl< Scalar, Options > &	aMb
	)

Definition at line 18 of file algorithm/expose-model.cpp.

bodyRegressor_proxy()

Eigen::MatrixXd pinocchio::python::bodyRegressor_proxy	(	const Motion &	v,
		const Motion &	a
	)

Definition at line 13 of file expose-regressor.cpp.

BOOST_PYTHON_FUNCTION_OVERLOADS() [1/3]

pinocchio::python::BOOST_PYTHON_FUNCTION_OVERLOADS	(	removeCollisionPairs_overload	,
		srdf::removeCollisionPairs	,
		3	,
		4
	)

BOOST_PYTHON_FUNCTION_OVERLOADS() [2/3]

pinocchio::python::BOOST_PYTHON_FUNCTION_OVERLOADS	(	loadReferenceConfigurations_overload	,
		srdf::loadReferenceConfigurations	,
		2	,
		3
	)		&

BOOST_PYTHON_FUNCTION_OVERLOADS() [3/3]

pinocchio::python::BOOST_PYTHON_FUNCTION_OVERLOADS	(	computeKKTContactDynamicMatrixInverse_overload	,
		computeKKTContactDynamicMatrixInverse_proxy	,
		4	,
		5
	)		const

Definition at line 75 of file expose-contact-dynamics.cpp.

buffer_copy()

static void pinocchio::python::buffer_copy ( boost::asio::streambuf &  dest, const boost::asio::streambuf &  source  )

static

Definition at line 16 of file bindings/python/serialization/serialization.cpp.

buildModel() [1/2]

PINOCCHIO_PYWRAP_DLLAPI Model pinocchio::python::buildModel	(	const std::string &	filename,
		const std::string &	var_name = "model"
	)

Load a model from a Python script.

This function raises a Python error in case of incistency in the Python code.

filename The full path to the model file. var_name Name of the Python variable which contains the model in the script.

Returns

The model constructed by the Python script.

Definition at line 23 of file bindings/python/parsers/python/model.cpp.

buildModel() [2/2]

PINOCCHIO_DEPRECATED Model pinocchio::python::buildModel	(	const std::string &	filename,
		const std::string &	var_name,
		const bool
	)

Load a model from a Python script.

This function raises a Python error in case of incistency in the Python code.

filename The full path to the model file. var_name Name of the Python variable which contains the model in the script.

Returns

The model constructed by the Python script.

Definition at line 44 of file python.hpp.

buildReducedModel() [1/2]

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >

bp::tuple pinocchio::python::buildReducedModel	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const GeometryModel &	geom_model,
		const std::vector< JointIndex > &	list_of_joints_to_lock,
		const Eigen::MatrixBase< ConfigVectorType > &	reference_configuration
	)

Definition at line 36 of file algorithm/expose-model.cpp.

buildReducedModel() [2/2]

template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >

bp::tuple pinocchio::python::buildReducedModel	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const std::vector< GeometryModel, Eigen::aligned_allocator< GeometryModel > > &	list_of_geom_models,
		const std::vector< JointIndex > &	list_of_joints_to_lock,
		const Eigen::MatrixBase< ConfigVectorType > &	reference_configuration
	)

Definition at line 53 of file algorithm/expose-model.cpp.

buildSampleModelHumanoid() [1/2]

Model pinocchio::python::buildSampleModelHumanoid

(

)

Definition at line 45 of file bindings/python/parsers/sample-models.cpp.

buildSampleModelHumanoid() [2/2]

Model pinocchio::python::buildSampleModelHumanoid

(

bool

usingFF

)

Definition at line 52 of file bindings/python/parsers/sample-models.cpp.

buildSampleModelHumanoidRandom() [1/2]

Model pinocchio::python::buildSampleModelHumanoidRandom

(

)

Definition at line 15 of file bindings/python/parsers/sample-models.cpp.

buildSampleModelHumanoidRandom() [2/2]

Model pinocchio::python::buildSampleModelHumanoidRandom

(

bool

usingFF

)

Definition at line 22 of file bindings/python/parsers/sample-models.cpp.

buildSampleModelManipulator()

Model pinocchio::python::buildSampleModelManipulator

(

)

Definition at line 29 of file bindings/python/parsers/sample-models.cpp.

com_0_proxy()

static SE3::Vector3 pinocchio::python::com_0_proxy ( const Model &  model, Data &  data, const Eigen::VectorXd &  q, bool  computeSubtreeComs = true  )

static

Definition at line 21 of file expose-com.cpp.

com_1_proxy()

static SE3::Vector3 pinocchio::python::com_1_proxy ( const Model &  model, Data &  data, const Eigen::VectorXd &  q, const Eigen::VectorXd &  v, bool  computeSubtreeComs = true  )

static

Definition at line 30 of file expose-com.cpp.

com_2_proxy()

static SE3::Vector3 pinocchio::python::com_2_proxy ( const Model &  model, Data &  data, const Eigen::VectorXd &  q, const Eigen::VectorXd &  v, const Eigen::VectorXd &  a, bool  computeSubtreeComs = true  )

static

Definition at line 40 of file expose-com.cpp.

com_default_proxy()

static const Data::Vector3& pinocchio::python::com_default_proxy ( const Model &  model, Data &  data, bool  computeSubtreeComs = true  )

static

Definition at line 69 of file expose-com.cpp.

com_level_proxy()

static const Data::Vector3& pinocchio::python::com_level_proxy ( const Model &  model, Data &  data, KinematicLevel  kinematic_level, bool  computeSubtreeComs = true  )

static

Definition at line 51 of file expose-com.cpp.

com_level_proxy_deprecated_signature()

static void pinocchio::python::com_level_proxy_deprecated_signature ( const Model &  model, Data &  data, int  kinematic_level, bool  computeSubtreeComs = true  )

static

Definition at line 60 of file expose-com.cpp.

compute_frame_jacobian_proxy() [1/2]

static Data::Matrix6x pinocchio::python::compute_frame_jacobian_proxy ( const Model &  model, Data &  data, const Eigen::VectorXd &  q, Model::FrameIndex  frame_id  )

static

Definition at line 24 of file expose-frames.cpp.

compute_frame_jacobian_proxy() [2/2]

static Data::Matrix6x pinocchio::python::compute_frame_jacobian_proxy ( const Model &  model, Data &  data, const Eigen::VectorXd &  q, Model::FrameIndex  frame_id, ReferenceFrame  reference_frame  )

static

Definition at line 35 of file expose-frames.cpp.

compute_jacobian_proxy()

static Data::Matrix6x pinocchio::python::compute_jacobian_proxy ( const Model &  model, Data &  data, const Eigen::VectorXd &  q, Model::JointIndex  jointId  )

static

Definition at line 14 of file expose-jacobian.cpp.

computeABADerivatives_fext()

bp::tuple pinocchio::python::computeABADerivatives_fext	(	const Model &	model,
		Data &	data,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v,
		const Eigen::VectorXd &	tau,
		const ForceAlignedVector &	fext
	)

Definition at line 31 of file expose-aba-derivatives.cpp.

computeABADerivativesDefault()

bp::tuple pinocchio::python::computeABADerivativesDefault	(	const Model &	model,
		Data &	data,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v,
		const Eigen::VectorXd &	tau
	)

Definition at line 17 of file expose-aba-derivatives.cpp.

computeAllTerms_proxy()

static void pinocchio::python::computeAllTerms_proxy ( const Model &  model, Data &  data, const Eigen::VectorXd &  q, const Eigen::VectorXd &  v  )

static

Definition at line 12 of file expose-cat.cpp.

computeCentroidalDynamicsDerivatives_proxy()

bp::tuple pinocchio::python::computeCentroidalDynamicsDerivatives_proxy	(	const Model &	model,
		Data &	data,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v,
		const Eigen::VectorXd &	a
	)

Definition at line 15 of file expose-centroidal-derivatives.cpp.

computeCollisions_full_proxy()

static bool pinocchio::python::computeCollisions_full_proxy ( const int  num_threads, const Model &  model, Data &  data, const GeometryModel &  geom_model, GeometryData &  geom_data, const Eigen::VectorXd &  q, const bool  stopAtFirstCollision = false  )

static

Definition at line 26 of file bindings/python/algorithm/parallel/geometry.cpp.

computeCollisions_pool_proxy()

static VectorXb pinocchio::python::computeCollisions_pool_proxy ( const int  num_thread, GeometryPool &  pool, const Eigen::MatrixXd &  q, bool  stop_at_first_collision = false  )

static

Definition at line 44 of file bindings/python/algorithm/parallel/geometry.cpp.

computeCollisions_pool_proxy_res()

static void pinocchio::python::computeCollisions_pool_proxy_res ( const int  num_thread, GeometryPool &  pool, const Eigen::MatrixXd &  q, Eigen::Ref< VectorXb >  res, bool  stop_at_first_collision = false  )

static

Definition at line 37 of file bindings/python/algorithm/parallel/geometry.cpp.

computeCollisions_proxy()

static bool pinocchio::python::computeCollisions_proxy ( const int  num_threads, const GeometryModel &  geom_model, GeometryData &  geom_data, const bool  stopAtFirstCollision = false  )

static

Definition at line 18 of file bindings/python/algorithm/parallel/geometry.cpp.

computeGeneralizedGravityDerivatives()

Data::MatrixXs pinocchio::python::computeGeneralizedGravityDerivatives	(	const Model &	model,
		Data &	data,
		const Eigen::VectorXd &	q
	)

Definition at line 17 of file expose-rnea-derivatives.cpp.

computeKKTContactDynamicMatrixInverse_proxy()

static Eigen::MatrixXd pinocchio::python::computeKKTContactDynamicMatrixInverse_proxy ( const Model &  model, Data &  data, const Eigen::VectorXd &  q, const Eigen::MatrixXd &  J, const double  mu = 0  )

static

Definition at line 64 of file expose-contact-dynamics.cpp.

computeMinverse_proxy()

const Data::RowMatrixXs& pinocchio::python::computeMinverse_proxy	(	const Model &	model,
		Data &	data,
		const Eigen::VectorXd &	q
	)

Definition at line 15 of file expose-aba.cpp.

computeRNEADerivatives()

bp::tuple pinocchio::python::computeRNEADerivatives	(	const Model &	model,
		Data &	data,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v,
		const Eigen::VectorXd &	a
	)

Definition at line 36 of file expose-rnea-derivatives.cpp.

computeRNEADerivatives_fext()

bp::tuple pinocchio::python::computeRNEADerivatives_fext	(	const Model &	model,
		Data &	data,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v,
		const Eigen::VectorXd &	a,
		const ForceAlignedVector &	fext
	)

Definition at line 48 of file expose-rnea-derivatives.cpp.

computeStaticTorqueDerivatives()

Data::MatrixXs pinocchio::python::computeStaticTorqueDerivatives	(	const Model &	model,
		Data &	data,
		const Eigen::VectorXd &	q,
		const ForceAlignedVector &	fext
	)

Definition at line 26 of file expose-rnea-derivatives.cpp.

crba_proxy()

static Eigen::MatrixXd pinocchio::python::crba_proxy ( const Model &  model, Data &  data, const Eigen::VectorXd &  q  )

static

Definition at line 12 of file expose-crba.cpp.

dDifference_arg_proxy()

Eigen::MatrixXd pinocchio::python::dDifference_arg_proxy	(	const Model &	model,
		const Eigen::VectorXd &	q1,
		const Eigen::VectorXd &	q2,
		const ArgumentPosition	arg
	)

Definition at line 78 of file algorithm/expose-joints.cpp.

dDifference_proxy()

bp::tuple pinocchio::python::dDifference_proxy	(	const Model &	model,
		const Eigen::VectorXd &	q1,
		const Eigen::VectorXd &	q2
	)

Definition at line 65 of file algorithm/expose-joints.cpp.

default_arg()

template<typename T >

py::object pinocchio::python::default_arg

(

T

t

)

Definition at line 169 of file pybind11.hpp.

dIntegrate_arg_proxy()

Eigen::MatrixXd pinocchio::python::dIntegrate_arg_proxy	(	const Model &	model,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v,
		const ArgumentPosition	arg
	)

Definition at line 41 of file algorithm/expose-joints.cpp.

dIntegrate_proxy()

bp::tuple pinocchio::python::dIntegrate_proxy	(	const Model &	model,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v
	)

Definition at line 28 of file algorithm/expose-joints.cpp.

dIntegrateTransport_proxy()

Eigen::MatrixXd pinocchio::python::dIntegrateTransport_proxy	(	const Model &	model,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v,
		const Eigen::MatrixXd &	Jin,
		const ArgumentPosition	arg
	)

Definition at line 53 of file algorithm/expose-joints.cpp.

exp3_proxy()

template<typename Vector3Like >

Eigen::Matrix<typename Vector3Like::Scalar,3,3,PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options> pinocchio::python::exp3_proxy

(

const Vector3Like &

v

)

Definition at line 18 of file bindings/python/spatial/explog.hpp.

exp6_proxy() [1/2]

template<typename Scalar , int Options>

SE3Tpl<Scalar,Options> pinocchio::python::exp6_proxy

(

const MotionTpl< Scalar, Options > &

v

)

Definition at line 51 of file bindings/python/spatial/explog.hpp.

exp6_proxy() [2/2]

template<typename Vector6Like >

SE3Tpl<typename Vector6Like::Scalar,PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6Like)::Options> pinocchio::python::exp6_proxy

(

const Vector6Like &

vec6

)

Definition at line 58 of file bindings/python/spatial/explog.hpp.

expose_joint_data()

template<class T >

bp::class_<T>& pinocchio::python::expose_joint_data ( bp::class_< T > &  cl )

inline

Definition at line 18 of file joints-datas.hpp.

expose_joint_data< JointDataComposite >()

template<>

bp::class_<JointDataComposite>& pinocchio::python::expose_joint_data< JointDataComposite > ( bp::class_< JointDataComposite > &  cl )

inline

Definition at line 59 of file joints-datas.hpp.

expose_joint_data< JointDataPlanar >()

template<>

bp::class_<JointDataPlanar>& pinocchio::python::expose_joint_data< JointDataPlanar > ( bp::class_< JointDataPlanar > &  cl )

inline

Definition at line 42 of file joints-datas.hpp.

expose_joint_data< JointDataPrismaticUnaligned >()

template<>

bp::class_<JointDataPrismaticUnaligned>& pinocchio::python::expose_joint_data< JointDataPrismaticUnaligned > ( bp::class_< JointDataPrismaticUnaligned > &  cl )

inline

Definition at line 34 of file joints-datas.hpp.

expose_joint_data< JointDataRevoluteUnaligned >()

template<>

bp::class_<JointDataRevoluteUnaligned>& pinocchio::python::expose_joint_data< JointDataRevoluteUnaligned > ( bp::class_< JointDataRevoluteUnaligned > &  cl )

inline

Definition at line 25 of file joints-datas.hpp.

expose_joint_data< JointDataSphericalZYX >()

template<>

bp::class_<JointDataSphericalZYX>& pinocchio::python::expose_joint_data< JointDataSphericalZYX > ( bp::class_< JointDataSphericalZYX > &  cl )

inline

Definition at line 51 of file joints-datas.hpp.

expose_joint_model()

template<class T >

bp::class_<T>& pinocchio::python::expose_joint_model ( bp::class_< T > &  cl )

inline

Definition at line 25 of file joints-models.hpp.

expose_joint_model< JointModelComposite >()

template<>

bp::class_<JointModelComposite>& pinocchio::python::expose_joint_model< JointModelComposite >

(

bp::class_< JointModelComposite > &

cl

)

Definition at line 117 of file joints-models.hpp.

expose_joint_model< JointModelPrismaticUnaligned >()

template<>

bp::class_<JointModelPrismaticUnaligned>& pinocchio::python::expose_joint_model< JointModelPrismaticUnaligned > ( bp::class_< JointModelPrismaticUnaligned > &  cl )

inline

Definition at line 46 of file joints-models.hpp.

expose_joint_model< JointModelRevoluteUnaligned >()

template<>

bp::class_<JointModelRevoluteUnaligned>& pinocchio::python::expose_joint_model< JointModelRevoluteUnaligned > ( bp::class_< JointModelRevoluteUnaligned > &  cl )

inline

Definition at line 32 of file joints-models.hpp.

exposeABA()

void pinocchio::python::exposeABA

(

)

Definition at line 22 of file expose-aba.cpp.

exposeABADerivatives()

void pinocchio::python::exposeABADerivatives

(

)

Definition at line 44 of file expose-aba-derivatives.cpp.

exposeAlgorithms()

void pinocchio::python::exposeAlgorithms

(

)

Definition at line 12 of file expose-algorithms.cpp.

exposeCAT()

void pinocchio::python::exposeCAT

(

)

Definition at line 23 of file expose-cat.cpp.

exposeCentroidal()

void pinocchio::python::exposeCentroidal

(

)

Definition at line 13 of file expose-centroidal.cpp.

exposeCentroidalDerivatives()

void pinocchio::python::exposeCentroidalDerivatives

(

)

Definition at line 47 of file expose-centroidal-derivatives.cpp.

exposeCholesky()

void pinocchio::python::exposeCholesky

(

)

Definition at line 14 of file expose-cholesky.cpp.

exposeCOM()

void pinocchio::python::exposeCOM

(

)

Definition at line 121 of file expose-com.cpp.

exposeConversions()

void pinocchio::python::exposeConversions

(

)

Definition at line 59 of file conversions.cpp.

exposeCRBA()

void pinocchio::python::exposeCRBA

(

)

Definition at line 23 of file expose-crba.cpp.

exposeData()

void pinocchio::python::exposeData

(

)

Definition at line 13 of file expose-data.cpp.

exposeDependencies()

void pinocchio::python::exposeDependencies

(

)

Definition at line 14 of file dependencies.cpp.

exposeDynamics()

void pinocchio::python::exposeDynamics

(

)

Definition at line 87 of file expose-contact-dynamics.cpp.

exposeEnergy()

void pinocchio::python::exposeEnergy

(

)

Definition at line 13 of file expose-energy.cpp.

exposeExplog()

void pinocchio::python::exposeExplog

(

)

Definition at line 15 of file expose-explog.cpp.

exposeFCL()

void pinocchio::python::exposeFCL

(

)

Definition at line 18 of file expose-fcl.cpp.

exposeForce()

void pinocchio::python::exposeForce

(

)

Definition at line 18 of file expose-force.cpp.

exposeFrame()

void pinocchio::python::exposeFrame

(

)

Definition at line 18 of file expose-frame.cpp.

exposeFramesAlgo()

void pinocchio::python::exposeFramesAlgo

(

)

Definition at line 75 of file expose-frames.cpp.

exposeFramesDerivatives()

void pinocchio::python::exposeFramesDerivatives

(

)

Definition at line 51 of file expose-frames-derivatives.cpp.

exposeGeometry()

void pinocchio::python::exposeGeometry

(

)

Definition at line 16 of file multibody/expose-geometry.cpp.

exposeGeometryAlgo()

void pinocchio::python::exposeGeometryAlgo

(

)

Definition at line 13 of file algorithm/expose-geometry.cpp.

exposeInertia()

void pinocchio::python::exposeInertia

(

)

Definition at line 18 of file expose-inertia.cpp.

exposeJacobian()

void pinocchio::python::exposeJacobian

(

)

Definition at line 49 of file expose-jacobian.cpp.

exposeJoints()

void pinocchio::python::exposeJoints

(

)

Definition at line 17 of file multibody/joint/expose-joints.cpp.

exposeJointsAlgo()

void pinocchio::python::exposeJointsAlgo

(

)

Definition at line 90 of file algorithm/expose-joints.cpp.

exposeKinematicRegressor()

void pinocchio::python::exposeKinematicRegressor

(

)

Definition at line 13 of file expose-kinematic-regressor.cpp.

exposeKinematics()

void pinocchio::python::exposeKinematics

(

)

Definition at line 17 of file expose-kinematics.cpp.

exposeKinematicsDerivatives()

void pinocchio::python::exposeKinematicsDerivatives

(

)

Definition at line 62 of file expose-kinematics-derivatives.cpp.

exposeLieGroups()

void pinocchio::python::exposeLieGroups

(

)

Definition at line 34 of file expose-liegroups.cpp.

exposeModel()

void pinocchio::python::exposeModel

(

)

Definition at line 13 of file multibody/expose-model.cpp.

exposeModelAlgo()

void pinocchio::python::exposeModelAlgo

(

)

Definition at line 67 of file algorithm/expose-model.cpp.

exposeMotion()

void pinocchio::python::exposeMotion

(

)

Definition at line 18 of file expose-motion.cpp.

exposeParallelABA()

void pinocchio::python::exposeParallelABA

(

)

Definition at line 30 of file bindings/python/algorithm/parallel/aba.cpp.

exposeParallelAlgorithms()

void pinocchio::python::exposeParallelAlgorithms

(

)

Definition at line 18 of file expose-parallel.cpp.

exposeParallelGeometry()

void pinocchio::python::exposeParallelGeometry

(

)

Definition at line 58 of file bindings/python/algorithm/parallel/geometry.cpp.

exposeParallelRNEA()

void pinocchio::python::exposeParallelRNEA

(

)

Definition at line 30 of file bindings/python/algorithm/parallel/rnea.cpp.

exposeParsers()

void pinocchio::python::exposeParsers

(

)

Definition at line 14 of file expose-parsers.cpp.

exposePool()

void pinocchio::python::exposePool

(

)

Definition at line 17 of file expose-pool.cpp.

exposeRegressor()

void pinocchio::python::exposeRegressor

(

)

Definition at line 28 of file expose-regressor.cpp.

exposeRNEA()

void pinocchio::python::exposeRNEA

(

)

Definition at line 14 of file expose-rnea.cpp.

exposeRNEADerivatives()

void pinocchio::python::exposeRNEADerivatives

(

)

Definition at line 61 of file expose-rnea-derivatives.cpp.

exposeRpy()

void pinocchio::python::exposeRpy

(

)

Definition at line 37 of file expose-rpy.cpp.

exposeSampleModels()

void pinocchio::python::exposeSampleModels

(

)

Definition at line 68 of file bindings/python/parsers/sample-models.cpp.

exposeSE3()

void pinocchio::python::exposeSE3

(

)

Definition at line 18 of file expose-SE3.cpp.

exposeSerialization()

void pinocchio::python::exposeSerialization

(

)

Definition at line 28 of file bindings/python/serialization/serialization.cpp.

exposeSkew()

void pinocchio::python::exposeSkew

(

)

Definition at line 37 of file expose-skew.cpp.

exposeSRDFParser()

void pinocchio::python::exposeSRDFParser

(

)

exposeURDFGeometry()

void pinocchio::python::exposeURDFGeometry

(

)

Definition at line 179 of file bindings/python/parsers/urdf/geometry.cpp.

exposeURDFModel()

void pinocchio::python::exposeURDFModel

(

)

Definition at line 79 of file bindings/python/parsers/urdf/model.cpp.

exposeURDFParser()

void pinocchio::python::exposeURDFParser ( )

inline

Definition at line 15 of file bindings/python/parsers/urdf.hpp.

exposeVersion()

void pinocchio::python::exposeVersion

(

)

Definition at line 20 of file bindings/python/utils/version.cpp.

extract() [1/3]

template<typename T , class Allocator >

void pinocchio::python::extract	(	const boost::python::list &	list,
		std::vector< T, Allocator > &	vec
	)

Definition at line 24 of file list.hpp.

extract() [2/3]

template<typename T >

std::vector<T,std::allocator<T> > pinocchio::python::extract

(

const boost::python::list &

list

)

Definition at line 48 of file list.hpp.

extract() [3/3]

template<typename T , class Allocator >

std::vector<T,Allocator> pinocchio::python::extract

(

const boost::python::list &

list

)

Definition at line 56 of file list.hpp.

forwardDynamics_proxy()

static const Eigen::VectorXd pinocchio::python::forwardDynamics_proxy ( const Model &  model, Data &  data, const Eigen::VectorXd &  q, const Eigen::VectorXd &  v, const Eigen::VectorXd &  tau, const Eigen::MatrixXd &  J, const Eigen::VectorXd &  gamma, const double  inv_damping = 0.0  )

static

Definition at line 13 of file expose-contact-dynamics.cpp.

forwardDynamics_proxy_no_q()

static const Eigen::VectorXd pinocchio::python::forwardDynamics_proxy_no_q ( const Model &  model, Data &  data, const Eigen::VectorXd &  tau, const Eigen::MatrixXd &  J, const Eigen::VectorXd &  gamma, const double  inv_damping = 0.0  )

static

Definition at line 27 of file expose-contact-dynamics.cpp.

frame_jacobian_time_variation_proxy()

static Data::Matrix6x pinocchio::python::frame_jacobian_time_variation_proxy ( const Model &  model, Data &  data, const Eigen::VectorXd &  q, const Eigen::VectorXd &  v, const Model::FrameIndex  frame_id, const ReferenceFrame  rf  )

static

Definition at line 58 of file expose-frames.cpp.

frameBodyRegressor_proxy()

Eigen::MatrixXd pinocchio::python::frameBodyRegressor_proxy	(	const Model &	model,
		Data &	data,
		const FrameIndex	frameId
	)

Definition at line 23 of file expose-regressor.cpp.

from()

template<typename ReturnType >

ReturnType& pinocchio::python::from ( py::handle  model )

inline

Definition at line 66 of file pybind11.hpp.

get_frame_jacobian_proxy()

static Data::Matrix6x pinocchio::python::get_frame_jacobian_proxy ( const Model &  model, Data &  data, const Model::FrameIndex  frame_id, ReferenceFrame  rf  )

static

Definition at line 13 of file expose-frames.cpp.

get_frame_jacobian_time_variation_proxy()

static Data::Matrix6x pinocchio::python::get_frame_jacobian_time_variation_proxy ( const Model &  model, Data &  data, Model::FrameIndex  jointId, ReferenceFrame  rf  )

static

Definition at line 47 of file expose-frames.cpp.

get_jacobian_proxy()

static Data::Matrix6x pinocchio::python::get_jacobian_proxy ( const Model &  model, Data &  data, Model::JointIndex  jointId, ReferenceFrame  rf  )

static

Definition at line 26 of file expose-jacobian.cpp.

get_jacobian_subtree_com_proxy()

static Data::Matrix3x pinocchio::python::get_jacobian_subtree_com_proxy ( const Model &  model, Data &  data, Model::JointIndex  jointId  )

static

Definition at line 100 of file expose-com.cpp.

get_jacobian_time_variation_proxy()

static Data::Matrix6x pinocchio::python::get_jacobian_time_variation_proxy ( const Model &  model, Data &  data, Model::JointIndex  jointId, ReferenceFrame  rf  )

static

Definition at line 38 of file expose-jacobian.cpp.

getCentroidalDynamicsDerivatives_proxy()

bp::tuple pinocchio::python::getCentroidalDynamicsDerivatives_proxy	(	const Model &	model,
		Data &	data
	)

Definition at line 33 of file expose-centroidal-derivatives.cpp.

getCoMVelocityDerivatives_proxy()

Data::Matrix3x pinocchio::python::getCoMVelocityDerivatives_proxy	(	const Model &	model,
		Data &	data
	)

Definition at line 52 of file expose-kinematics-derivatives.cpp.

getFrameAccelerationDerivatives_proxy()

bp::tuple pinocchio::python::getFrameAccelerationDerivatives_proxy	(	const Model &	model,
		Data &	data,
		const Model::FrameIndex	frame_id,
		ReferenceFrame	rf
	)

Definition at line 32 of file expose-frames-derivatives.cpp.

getFrameVelocityDerivatives_proxy()

bp::tuple pinocchio::python::getFrameVelocityDerivatives_proxy	(	const Model &	model,
		Data &	data,
		const Model::FrameIndex	frame_id,
		ReferenceFrame	rf
	)

Definition at line 16 of file expose-frames-derivatives.cpp.

getJointAccelerationDerivatives_proxy()

bp::tuple pinocchio::python::getJointAccelerationDerivatives_proxy	(	const Model &	model,
		Data &	data,
		const Model::JointIndex	jointId,
		ReferenceFrame	rf
	)

Definition at line 33 of file expose-kinematics-derivatives.cpp.

getJointVelocityDerivatives_proxy()

bp::tuple pinocchio::python::getJointVelocityDerivatives_proxy	(	const Model &	model,
		Data &	data,
		const Model::JointIndex	jointId,
		ReferenceFrame	rf
	)

Definition at line 17 of file expose-kinematics-derivatives.cpp.

getOrCreatePythonNamespace()

boost::python::object pinocchio::python::getOrCreatePythonNamespace ( const std::string &  submodule_name )

inline

Helper to create or simply return an existing namespace in Python.

 

Parameters

[in]

submodule_name

name of the submodule

Returns

The submodule related to the namespace name.

Definition at line 22 of file namespace.hpp.

Hlog3()

pinocchio::python::Hlog3	(	M	,
		v	,
		res
	)

impulseDynamics_proxy()

static const Eigen::VectorXd pinocchio::python::impulseDynamics_proxy ( const Model &  model, Data &  data, const Eigen::VectorXd &  q, const Eigen::VectorXd &  v_before, const Eigen::MatrixXd &  J, const double  r_coeff = 0., const double  inv_damping = 0.  )

static

Definition at line 39 of file expose-contact-dynamics.cpp.

impulseDynamics_proxy_no_q()

static const Eigen::VectorXd pinocchio::python::impulseDynamics_proxy_no_q ( const Model &  model, Data &  data, const Eigen::VectorXd &  v_before, const Eigen::MatrixXd &  J, const double  r_coeff = 0., const double  inv_damping = 0.  )

static

Definition at line 52 of file expose-contact-dynamics.cpp.

init_proxy1()

static JointModelComposite* pinocchio::python::init_proxy1 ( const JointModel &  jmodel )

static

Definition at line 103 of file joints-models.hpp.

init_proxy2()

static JointModelComposite* pinocchio::python::init_proxy2 ( const JointModel &  jmodel, const SE3 &  joint_placement  )

static

Definition at line 109 of file joints-models.hpp.

jacobian_subtree_com_kinematics_proxy()

static Data::Matrix3x pinocchio::python::jacobian_subtree_com_kinematics_proxy ( const Model &  model, Data &  data, const Eigen::VectorXd &  q, Model::JointIndex  jointId  )

static

Definition at line 77 of file expose-com.cpp.

jacobian_subtree_com_proxy()

static Data::Matrix3x pinocchio::python::jacobian_subtree_com_proxy ( const Model &  model, Data &  data, Model::JointIndex  jointId  )

static

Definition at line 89 of file expose-com.cpp.

Jexp3_proxy()

template<typename Vector3Like >

Eigen::Matrix<typename Vector3Like::Scalar,3,3,PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options> pinocchio::python::Jexp3_proxy

(

const Vector3Like &

v

)

Definition at line 25 of file bindings/python/spatial/explog.hpp.

Jexp6_proxy() [1/2]

template<typename Scalar , int Options>

MotionTpl<Scalar,Options>::Matrix6 pinocchio::python::Jexp6_proxy

(

const MotionTpl< Scalar, Options > &

v

)

Definition at line 73 of file bindings/python/spatial/explog.hpp.

Jexp6_proxy() [2/2]

template<typename Vector6Like >

Eigen::Matrix<typename Vector6Like::Scalar,6,6,PINOCCHIO_EIGEN_PLAIN_TYPE(Vector6Like)::Options> pinocchio::python::Jexp6_proxy

(

const Vector6Like &

vec6

)

Definition at line 82 of file bindings/python/spatial/explog.hpp.

Jlog6_proxy()

template<typename Scalar , int Options>

SE3Tpl<Scalar,Options>::Matrix6 pinocchio::python::Jlog6_proxy

(

const SE3Tpl< Scalar, Options > &

M

)

Definition at line 64 of file bindings/python/spatial/explog.hpp.

jointBodyRegressor_proxy()

Eigen::MatrixXd pinocchio::python::jointBodyRegressor_proxy	(	const Model &	model,
		Data &	data,
		const JointIndex	jointId
	)

Definition at line 18 of file expose-regressor.cpp.

log3_proxy()

template<typename Matrix3Like >

Eigen::Matrix<typename Matrix3Like::Scalar,3,1,PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like)::Options> pinocchio::python::log3_proxy

(

const Matrix3Like &

R

)

Definition at line 93 of file bindings/python/spatial/explog.hpp.

log6_proxy()

template<typename Matrix4Like >

MotionTpl<typename Matrix4Like::Scalar,PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix4Like)::Options> pinocchio::python::log6_proxy

(

const Matrix4Like &

homegenous_matrix

)

Definition at line 100 of file bindings/python/spatial/explog.hpp.

make_pybind11_function()

template<typename R , typename... Args>

internal::function_wrapper<R (*)(Args...)> pinocchio::python::make_pybind11_function

(

R(*)(Args...)

func

)

Creates a function wrapper.

Using function wrapper has the advantage of being copy-less when possible but the disadvantage of requiring to wrap the exposed function.

The wrapper does:

• converts the argument if a conversion has been previously declared,
• call the wrapped function
• converts the result if a conversion has been previously declared.

Definition at line 161 of file pybind11.hpp.

make_ref()

template<typename Matrix >

Eigen::Ref<Matrix> pinocchio::python::make_ref

(

Eigen::PlainObjectBase< Matrix > &

mat

)

Definition at line 17 of file bindings/python/utils/eigen.hpp.

make_symmetric()

template<typename Matrix >

void pinocchio::python::make_symmetric

(

Eigen::MatrixBase< Matrix > &

mat

)

Definition at line 24 of file bindings/python/utils/eigen.hpp.

makeLieGroup()

template<typename LgType >

CartesianProductOperationVariantTpl<double,0,LieGroupCollectionDefaultTpl> pinocchio::python::makeLieGroup

(

)

Definition at line 20 of file expose-liegroups.cpp.

makeRn()

CartesianProductOperationVariantTpl<double,0,LieGroupCollectionDefaultTpl> pinocchio::python::makeRn

(

int

n

)

Definition at line 26 of file expose-liegroups.cpp.

normalize_proxy()

static Eigen::VectorXd pinocchio::python::normalize_proxy ( const Model &  model, const Eigen::VectorXd &  config  )

static

Definition at line 15 of file algorithm/expose-joints.cpp.

PINOCCHIO_ALIGNED_STD_VECTOR()

typedef pinocchio::python::PINOCCHIO_ALIGNED_STD_VECTOR

(

Force

)

PINOCCHIO_EIGEN_PLAIN_TYPE() [1/3]

template<typename Matrix >

pinocchio::python::PINOCCHIO_EIGEN_PLAIN_TYPE

(

Matrix

)

const

Definition at line 31 of file bindings/python/utils/eigen.hpp.

PINOCCHIO_EIGEN_PLAIN_TYPE() [2/3]

template<typename Matrix3Like >

pinocchio::python::PINOCCHIO_EIGEN_PLAIN_TYPE

(

Matrix3Like

)

const &

Definition at line 33 of file bindings/python/spatial/explog.hpp.

PINOCCHIO_EIGEN_PLAIN_TYPE() [3/3]

template<typename Matrix3Like , typename Vector3Like >

pinocchio::python::PINOCCHIO_EIGEN_PLAIN_TYPE

(

Matrix3Like

)

const &

prepare_proxy()

static boost::asio::streambuf& pinocchio::python::prepare_proxy ( boost::asio::streambuf &  self, const std::size_t  n  )

static

Definition at line 23 of file bindings/python/serialization/serialization.cpp.

randomConfiguration_proxy()

static Eigen::VectorXd pinocchio::python::randomConfiguration_proxy ( const Model &  model )

static

Definition at line 23 of file algorithm/expose-joints.cpp.

register_symbolic_link_to_registered_type()

template<typename T >

bool pinocchio::python::register_symbolic_link_to_registered_type ( )

inline

Definition at line 19 of file registration.hpp.

rnea_proxy()

static Eigen::MatrixXd pinocchio::python::rnea_proxy ( const int  num_thread, ModelPool &  pool, const Eigen::MatrixXd &  q, const Eigen::MatrixXd &  v, const Eigen::MatrixXd &  a  )

static

Definition at line 22 of file bindings/python/algorithm/parallel/rnea.cpp.

rnea_proxy_res()

static void pinocchio::python::rnea_proxy_res ( const int  num_thread, ModelPool &  pool, const Eigen::MatrixXd &  q, const Eigen::MatrixXd &  v, const Eigen::MatrixXd &  a, Eigen::Ref< Eigen::MatrixXd >  tau  )

static

Definition at line 15 of file bindings/python/algorithm/parallel/rnea.cpp.

rotate()

Eigen::Matrix3d pinocchio::python::rotate	(	const std::string &	axis,
		const double	ang
	)

Definition at line 19 of file expose-rpy.cpp.

sanitizedClassname()

template<typename T >

std::string pinocchio::python::sanitizedClassname

(

)

Definition at line 24 of file joints-variant.hpp.

SE3ToXYZQUAT()

VectorXd pinocchio::python::SE3ToXYZQUAT

(

const SE3 &

M

)

Definition at line 19 of file conversions.cpp.

SE3ToXYZQUATtuple()

bp::tuple pinocchio::python::SE3ToXYZQUATtuple

(

const SE3 &

M

)

Definition at line 27 of file conversions.cpp.

serialize()

template<typename T >

void pinocchio::python::serialize

(

)

Definition at line 21 of file serialization.hpp.

skew()

template<typename Vector3 >

Eigen::Matrix<typename Vector3::Scalar,3,3,Vector3::Options> pinocchio::python::skew

(

const Vector3 &

v

)

Definition at line 18 of file expose-skew.cpp.

skewSquare()

template<typename Vector3 >

Eigen::Matrix<typename Vector3::Scalar,3,3,Vector3::Options> pinocchio::python::skewSquare	(	const Vector3 &	u,
		const Vector3 &	v
	)

Definition at line 25 of file expose-skew.cpp.

to() [1/2]

template<typename T >

py::object pinocchio::python::to ( T &  t )

inline

Definition at line 50 of file pybind11.hpp.

to() [2/2]

template<typename T >

py::object pinocchio::python::to ( T *  t )

inline

Definition at line 57 of file pybind11.hpp.

unSkew()

template<typename Matrix3 >

Eigen::Matrix<typename Matrix3::Scalar,3,1,Matrix3::Options> pinocchio::python::unSkew

(

const Matrix3 &

mat

)

Definition at line 32 of file expose-skew.cpp.

XYZQUATToSE3_bp()

template<typename TupleOrList >

SE3 pinocchio::python::XYZQUATToSE3_bp

(

const TupleOrList &

v

)

Definition at line 36 of file conversions.cpp.

XYZQUATToSE3_ei()

template<typename Vector7Like >

SE3 pinocchio::python::XYZQUATToSE3_ei

(

const Vector7Like &

v

)

Definition at line 52 of file conversions.cpp.

Variable Documentation

res

return pinocchio::python::res

Definition at line 46 of file bindings/python/spatial/explog.hpp.

v

const Vector3Like& pinocchio::python::v

Initial value:

{
      typedef typename PINOCCHIO_EIGEN_PLAIN_TYPE(Matrix3Like) ReturnType

Definition at line 44 of file bindings/python/spatial/explog.hpp.

xmlStream

const std::string& pinocchio::python::xmlStream

Definition at line 30 of file bindings/python/parsers/srdf.cpp.