Commit 5e4ca72a authored by jcarpent's avatar jcarpent
Browse files

[Python] Expose the algo for derivation of the centroidal momentum matrix

parent 50fcc77f
...@@ -47,6 +47,13 @@ namespace se3 ...@@ -47,6 +47,13 @@ namespace se3
"Computes the centroidal mapping, the centroidal momentum and the Centroidal Composite Rigid Body Inertia, puts the result in Data and returns the centroidal mapping.", "Computes the centroidal mapping, the centroidal momentum and the Centroidal Composite Rigid Body Inertia, puts the result in Data and returns the centroidal mapping.",
bp::return_value_policy<bp::return_by_value>()); bp::return_value_policy<bp::return_by_value>());
bp::def("dccrba",dccrba,
bp::args("Model","Data",
"Joint configuration q (size Model::nq)",
"Joint velocity v (size Model::nv)"),
"Computes the time derivative of the centroidal momentum matrix Ag in terms of q and v. It computes also the same information than ccrtba for the same price.",
bp::return_value_policy<bp::return_by_value>());
} }
} // namespace python } // namespace python
......
...@@ -88,6 +88,8 @@ namespace se3 ...@@ -88,6 +88,8 @@ namespace se3
.ADD_DATA_PROPERTY_READONLY_BYVALUE(Matrix6x,Ag, .ADD_DATA_PROPERTY_READONLY_BYVALUE(Matrix6x,Ag,
"Centroidal matrix which maps from joint velocity to the centroidal momentum.") "Centroidal matrix which maps from joint velocity to the centroidal momentum.")
.ADD_DATA_PROPERTY_READONLY_BYVALUE(Matrix6x,dAg,
"Time derivative of the centroidal momentum matrix Ag.")
.ADD_DATA_PROPERTY_READONLY(Force,hg, .ADD_DATA_PROPERTY_READONLY(Force,hg,
"Centroidal momentum (expressed in the frame centered at the CoM and aligned with the inertial frame).") "Centroidal momentum (expressed in the frame centered at the CoM and aligned with the inertial frame).")
.ADD_DATA_PROPERTY_READONLY(Inertia,Ig, .ADD_DATA_PROPERTY_READONLY(Inertia,Ig,
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment