19 using namespace Eigen;
20 bp::def(
"updateGlobalPlacements",
21 &updateGlobalPlacements<double,0,JointCollectionDefaultTpl>,
22 bp::args(
"model",
"data"),
23 "Updates the global placements of all joint frames of the kinematic "
24 "tree and store the results in data according to the relative placements of the joints.\n\n"
26 "\tmodel: model of the kinematic tree\n"
27 "\tdata: data related to the model\n");
29 bp::def(
"getVelocity",
30 &getVelocity<double,0,JointCollectionDefaultTpl>,
32 bp::args(
"model",
"data",
"joint_id",
"reference_frame"),
33 "Returns the spatial velocity of the joint expressed in the coordinate system given by reference_frame.\n"
34 "forwardKinematics(model,data,q,v[,a]) should be called first to compute the joint spatial velocity stored in data.v"));
36 bp::def(
"getAcceleration",
37 &getAcceleration<double,0,JointCollectionDefaultTpl>,
38 getAcceleration_overload(
39 bp::args(
"model",
"data",
"joint_id",
"reference_frame"),
40 "Returns the spatial acceleration of the joint expressed in the coordinate system given by reference_frame.\n"
41 "forwardKinematics(model,data,q,v,a) should be called first to compute the joint spatial acceleration stored in data.a ."));
43 bp::def(
"getClassicalAcceleration",
44 &getClassicalAcceleration<double,0,JointCollectionDefaultTpl>,
45 getClassicalAcceleration_overload(
46 bp::args(
"model",
"data",
"joint_id",
"reference_frame"),
47 "Returns the \"classical\" acceleration of the joint expressed in the coordinate system given by reference_frame.\n"
48 "forwardKinematics(model,data,q,v,a) should be called first to compute the joint spatial acceleration stored in data.a ."));
50 bp::def(
"forwardKinematics",
51 &forwardKinematics<double,0,JointCollectionDefaultTpl,VectorXd>,
52 bp::args(
"model",
"data",
"q"),
53 "Compute the global placements of all the joints of the kinematic "
54 "tree and store the results in data.\n\n"
56 "\tmodel: model of the kinematic tree\n"
57 "\tdata: data related to the model\n"
58 "\tq: the joint configuration vector (size model.nq)\n");
60 bp::def(
"forwardKinematics",
61 &forwardKinematics<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd>,
62 bp::args(
"model",
"data",
"q",
"v"),
63 "Compute the global placements and local spatial velocities of all the joints of the kinematic "
64 "tree and store the results in data.\n\n"
66 "\tmodel: model of the kinematic tree\n"
67 "\tdata: data related to the model\n"
68 "\tq: the joint configuration vector (size model.nq)\n"
69 "\tv: the joint velocity vector (size model.nv)\n");
71 bp::def(
"forwardKinematics",
72 &forwardKinematics<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd,VectorXd>,
73 bp::args(
"model",
"data",
"q",
"v",
"a"),
74 "Compute the global placements, local spatial velocities and spatial accelerations of all the joints of the kinematic "
75 "tree and store the results in data.\n\n"
77 "\tmodel: model of the kinematic tree\n"
78 "\tdata: data related to the model\n"
79 "\tq: the joint configuration vector (size model.nq)\n"
80 "\tv: the joint velocity vector (size model.nv)\n"
81 "\ta: the joint acceleration vector (size model.nv)\n");