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Gabriele Buondonno
pinocchio
Commits
5170c96b
Commit
5170c96b
authored
Sep 27, 2017
by
jcarpent
Browse files
[Python] Expose to{Dual}ActionMatrix for Motion class
parent
7672ce5b
Changes
1
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bindings/python/spatial/motion.hpp
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5170c96b
...
...
@@ -74,6 +74,9 @@ namespace se3
.
def
(
"se3ActionInverse"
,
&
Motion
::
se3ActionInverse
,
bp
::
args
(
"M"
),
"Returns the result of the action of the inverse of M on *this."
)
.
add_property
(
"action"
,
&
Motion
::
toActionMatrix
,
"Returns the action matrix of *this (acting on Motion)."
)
.
add_property
(
"dualAction"
,
&
Motion
::
toDualActionMatrix
,
"Returns the dual action matrix of *this (acting on Force)."
)
.
def
(
"setZero"
,
&
MotionPythonVisitor
::
setZero
,
"Set the linear and angular components of *this to zero."
)
.
def
(
"setRandom"
,
&
MotionPythonVisitor
::
setRandom
,
...
...
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