5 #ifndef __pinocchio_python_joints_models_hpp__
6 #define __pinocchio_python_joints_models_hpp__
8 #include <boost/python.hpp>
35 .def(bp::init<double, double, double> (bp::args(
"self",
"x",
"y",
"z"),
36 "Init JointModelRevoluteUnaligned from the components x, y, z of the axis"))
37 .def(bp::init<Eigen::Vector3d> (bp::args(
"self",
"axis"),
38 "Init JointModelRevoluteUnaligned from an axis with x-y-z components"))
40 "Rotation axis of the JointModelRevoluteUnaligned.")
49 .def(bp::init<double, double, double> (bp::args(
"self",
"x",
"y",
"z"),
50 "Init JointModelPrismaticUnaligned from the components x, y, z of the axis"))
51 .def(bp::init<Eigen::Vector3d> (bp::args(
"self",
"axis"),
52 "Init JointModelPrismaticUnaligned from an axis with x-y-z components"))
54 "Translation axis of the JointModelPrismaticUnaligned.")
71 template <
typename Jo
intModelDerived>
96 template <
typename Jo
intModelDerived>
120 .def(bp::init<const size_t> (bp::args(
"self",
"size"),
121 "Init JointModelComposite with a defined size"))
124 bp::default_call_policies(),
125 bp::args(
"joint_model")
127 "Init JointModelComposite from a joint"
131 bp::default_call_policies(),
132 bp::args(
"joint_model",
"joint_placement")
134 "Init JointModelComposite from a joint and a placement"
137 .add_property(
"jointPlacements",&JointModelComposite::jointPlacements)
141 addJoint_proxy_overloads(bp::args(
"self",
"joint_model",
"joint_placement"),
142 "Add a joint to the vector of joints."
143 )[bp::return_internal_reference<>()]
146 .def(bp::self == bp::self)
147 .def(bp::self != bp::self)
154 #endif // ifndef __pinocchio_python_joint_models_hpp__