expose-inertia.cpp

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//
// Copyright (c) 2015-2021 CNRS INRIA
//
 
#include "pinocchio/serialization/aligned-vector.hpp"
#include "pinocchio/serialization/inertia.hpp"
 
#include "pinocchio/bindings/python/fwd.hpp"
#include "pinocchio/bindings/python/spatial/inertia.hpp"
#include "pinocchio/bindings/python/serialization/serialization.hpp"
#include "pinocchio/bindings/python/utils/std-aligned-vector.hpp"
 
namespace pinocchio
{
  namespace python
  {
 
    void exposeInertia()
    {
      InertiaPythonVisitor<context::Inertia>::expose();
      PseudoInertiaPythonVisitor<context::PseudoInertia>::expose();
      LogCholeskyParametersPythonVisitor<context::LogCholeskyParameters>::expose();
      StdAlignedVectorPythonVisitor<context::Inertia>::expose("StdVec_Inertia");
#ifndef PINOCCHIO_PYTHON_NO_SERIALIZATION
      serialize<StdAlignedVectorPythonVisitor<context::Inertia>::vector_type>();
#endif
    }
 
  } // namespace python
} // namespace pinocchio