Commit 9d75dc3c authored by jcarpent's avatar jcarpent
Browse files

[Python] Correct exposition of distance algo + add squaredDistance

parent d3fbbd18
...@@ -58,12 +58,19 @@ namespace se3 ...@@ -58,12 +58,19 @@ namespace se3
"Difference between two configurations, ie. the tangent vector that must be integrated during one unit time" "Difference between two configurations, ie. the tangent vector that must be integrated during one unit time"
"to go from q1 to q2"); "to go from q1 to q2");
bp::def("squaredDistance",
(VectorXd (*)(const Model &, const VectorXd &, const VectorXd &))&squaredDistance,
bp::args("Model",
"Configuration q1 (size Model::nq)",
"Configuration q2 (size Model::nq)"),
"Squared distance vector between two configurations.");
bp::def("distance", bp::def("distance",
(VectorXd (*)(const Model &, const VectorXd &, const VectorXd &))&distance, (double (*)(const Model &, const VectorXd &, const VectorXd &))&distance,
bp::args("Model", bp::args("Model",
"Configuration q1 (size Model::nq)", "Configuration q1 (size Model::nq)",
"Configuration q2 (size Model::nq)"), "Configuration q2 (size Model::nq)"),
"Distance between two configurations "); "Distance between two configurations.");
bp::def("randomConfiguration", bp::def("randomConfiguration",
(VectorXd (*)(const Model &, const VectorXd &, const VectorXd &))&randomConfiguration, (VectorXd (*)(const Model &, const VectorXd &, const VectorXd &))&randomConfiguration,
......
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