16 using namespace Eigen;
19 &rnea<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd,VectorXd>,
20 bp::args(
"model",
"data",
"q",
"v",
"a"),
21 "Compute the RNEA, store the result in Data and return it.\n\n"
23 "\tmodel: model of the kinematic tree\n"
24 "\tdata: data related to the model\n"
25 "\tq: the joint configuration vector (size model.nq)\n"
26 "\tv: the joint velocity vector (size model.nv)\n"
27 "\ta: the joint acceleration vector (size model.nv)\n",
28 bp::return_value_policy<bp::return_by_value>());
31 &rnea<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd,VectorXd,Force>,
32 bp::args(
"model",
"data",
"q",
"v",
"a",
"fext"),
33 "Compute the RNEA with external forces, store the result in Data and return it.\n\n"
35 "\tmodel: model of the kinematic tree\n"
36 "\tdata: data related to the model\n"
37 "\tq: the joint configuration vector (size model.nq)\n"
38 "\tv: the joint velocity vector (size model.nv)\n"
39 "\ta: the joint acceleration vector (size model.nv)\n"
40 "\tfext: list of external forces expressed in the local frame of the joints (size model.njoints)\n",
41 bp::return_value_policy<bp::return_by_value>());
43 bp::def(
"nonLinearEffects",
44 &nonLinearEffects<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd>,
45 bp::args(
"model",
"data",
"q",
"v"),
46 "Compute the Non Linear Effects (coriolis, centrifugal and gravitational effects), store the result in Data and return it.\n\n"
48 "\tmodel: model of the kinematic tree\n"
49 "\tdata: data related to the model\n"
50 "\tq: the joint configuration vector (size model.nq)\n"
51 "\tv: the joint velocity vector (size model.nv)\n",
52 bp::return_value_policy<bp::return_by_value>());
54 bp::def(
"computeGeneralizedGravity",
55 &computeGeneralizedGravity<double,0,JointCollectionDefaultTpl,VectorXd>,
56 bp::args(
"model",
"data",
"q"),
57 "Compute the generalized gravity contribution g(q) of the Lagrangian dynamics, store the result in data.g and return it.\n\n"
59 "\tmodel: model of the kinematic tree\n"
60 "\tdata: data related to the model\n"
61 "\tq: the joint configuration vector (size model.nq)\n",
62 bp::return_value_policy<bp::return_by_value>());
64 bp::def(
"computeStaticTorque",
65 &computeStaticTorque<double,0,JointCollectionDefaultTpl,VectorXd>,
66 bp::args(
"model",
"data",
"q",
"fext"),
67 "Computes the generalized static torque contribution g(q) - J.T f_ext of the Lagrangian dynamics, store the result in data.tau and return it.\n\n"
69 "\tmodel: model of the kinematic tree\n"
70 "\tdata: data related to the model\n"
71 "\tq: the joint configuration vector (size model.nq)\n"
72 "\tfext: list of external forces expressed in the local frame of the joints (size model.njoints)\n",
73 bp::return_value_policy<bp::return_by_value>());
75 bp::def(
"computeCoriolisMatrix",
76 &computeCoriolisMatrix<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd>,
77 bp::args(
"model",
"data",
"q",
"v"),
78 "Compute the Coriolis Matrix C(q,v) of the Lagrangian dynamics, store the result in data.C and return it.\n\n"
80 "\tmodel: model of the kinematic tree\n"
81 "\tdata: data related to the model\n"
82 "\tq: the joint configuration vector (size model.nq)\n"
83 "\tv: the joint velocity vector (size model.nv)\n",
84 bp::return_value_policy<bp::return_by_value>());
86 bp::def(
"getCoriolisMatrix",
87 &getCoriolisMatrix<double,0,JointCollectionDefaultTpl>,
88 bp::args(
"model",
"data"),
89 "Retrives the Coriolis Matrix C(q,v) of the Lagrangian dynamics after calling one of the derivative algorithms, store the result in data.C and return it.\n\n"
91 "\tmodel: model of the kinematic tree\n"
92 "\tdata: data related to the model\n",
93 bp::return_value_policy<bp::return_by_value>());