expose-kinematic-regressor.cpp
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1 //
2 // Copyright (c) 2020 INRIA
3 //
4 
7 
8 namespace pinocchio
9 {
10  namespace python
11  {
12 
14  {
15  typedef context::Scalar Scalar;
16  enum
17  {
19  };
20 
21  bp::def(
22  "computeJointKinematicRegressor",
24  const context::Model &, const context::Data &, const JointIndex, const ReferenceFrame,
25  const context::
26  SE3 &))&computeJointKinematicRegressor<Scalar, Options, JointCollectionDefaultTpl>,
27  bp::args("model", "data", "joint_id", "reference_frame", "placement"),
28  "Computes the kinematic regressor that links the joint placements variations of the whole "
29  "kinematic tree to the placement variation of the frame rigidly attached to the joint and "
30  "given by its placement w.r.t. to the joint frame.\n\n"
31  "Parameters:\n"
32  "\tmodel: model of the kinematic tree\n"
33  "\tdata: data related to the model\n"
34  "\tjoint_id: index of the joint\n"
35  "\treference_frame: reference frame in which the result is expressed (LOCAL, "
36  "LOCAL_WORLD_ALIGNED or WORLD)\n"
37  "\tplacement: relative placement to the joint frame\n");
38 
39  bp::def(
40  "computeJointKinematicRegressor",
42  const context::Model &, const context::Data &, const JointIndex,
43  const ReferenceFrame))&computeJointKinematicRegressor<Scalar, Options, JointCollectionDefaultTpl>,
44  bp::args("model", "data", "joint_id", "reference_frame"),
45  "Computes the kinematic regressor that links the joint placement variations of the "
46  "whole kinematic tree to the placement variation of the joint given as input.\n\n"
47  "Parameters:\n"
48  "\tmodel: model of the kinematic tree\n"
49  "\tdata: data related to the model\n"
50  "\tjoint_id: index of the joint\n"
51  "\treference_frame: reference frame in which the result is expressed (LOCAL, "
52  "LOCAL_WORLD_ALIGNED or WORLD)\n");
53 
54  bp::def(
55  "computeFrameKinematicRegressor",
57  const context::Model &, context::Data &, const FrameIndex,
58  const ReferenceFrame))&computeFrameKinematicRegressor<Scalar, Options, JointCollectionDefaultTpl>,
59  bp::args("model", "data", "frame_id", "reference_frame"),
60  "Computes the kinematic regressor that links the joint placement variations of the "
61  "whole kinematic tree to the placement variation of the frame given as input.\n\n"
62  "Parameters:\n"
63  "\tmodel: model of the kinematic tree\n"
64  "\tdata: data related to the model\n"
65  "\tframe_id: index of the frame\n"
66  "\treference_frame: reference frame in which the result is expressed (LOCAL, "
67  "LOCAL_WORLD_ALIGNED or WORLD)\n");
68  }
69 
70  } // namespace python
71 } // namespace pinocchio
pinocchio::FrameIndex
Index FrameIndex
Definition: multibody/fwd.hpp:28
pinocchio::DataTpl
Definition: context/generic.hpp:25
pinocchio::python::exposeKinematicRegressor
void exposeKinematicRegressor()
Definition: expose-kinematic-regressor.cpp:13
pinocchio::ReferenceFrame
ReferenceFrame
Various conventions to express the velocity of a moving frame.
Definition: multibody/fwd.hpp:46
pinocchio::SE3Tpl< context::Scalar, context::Options >
pinocchio::python::Scalar
context::Scalar Scalar
Definition: admm-solver.cpp:29
pinocchio::python::Options
@ Options
Definition: expose-contact-inverse-dynamics.cpp:22
algorithms.hpp
regressor.hpp
python
pinocchio::python::context::Options
@ Options
Definition: bindings/python/context/generic.hpp:40
pinocchio::JointIndex
Index JointIndex
Definition: multibody/fwd.hpp:26
pinocchio::DataTpl::Matrix6x
Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options > Matrix6x
The 6d jacobian type (temporary)
Definition: multibody/data.hpp:92
pinocchio::ModelTpl
Definition: context/generic.hpp:20
pinocchio::python::context::Scalar
PINOCCHIO_PYTHON_SCALAR_TYPE Scalar
Definition: bindings/python/context/generic.hpp:37
pinocchio
Main pinocchio namespace.
Definition: timings.cpp:27


pinocchio
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autogenerated on Sun Dec 22 2024 03:41:09