Commit 8e4ff872 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

Merge pull request #137 from nim65s/devel

Expose local_frame bool in RobotWrapper's jacobian proxy
parents d6068a97 c8e42a6d
......@@ -109,8 +109,8 @@ class RobotWrapper(object):
se3.forwardKinematics(self.model,, q, v, a)
def jacobian(self, q, index, update_geometry=True):
return se3.jacobian(self.model,, q, index, True, update_geometry)
def jacobian(self, q, index, update_geometry=True, local_frame=True):
return se3.jacobian(self.model,, q, index, local_frame, update_geometry)
def computeJacobians(self, q):
return se3.computeJacobians(self.model,, q)
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