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Gabriele Buondonno
pinocchio
Commits
c8e42a6d
Commit
c8e42a6d
authored
Mar 24, 2016
by
Guilhem Saurel
Browse files
[Python] expose local_frame bool in RobotWrapper's jacobian proxy
parent
d6068a97
Changes
1
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Inline
Side-by-side
src/python/robot_wrapper.py
View file @
c8e42a6d
...
...
@@ -109,8 +109,8 @@ class RobotWrapper(object):
se3
.
forwardKinematics
(
self
.
model
,
self
.
data
,
q
,
v
,
a
)
return
self
.
data
.
a
[
index
]
def
jacobian
(
self
,
q
,
index
,
update_geometry
=
True
):
return
se3
.
jacobian
(
self
.
model
,
self
.
data
,
q
,
index
,
Tru
e
,
update_geometry
)
def
jacobian
(
self
,
q
,
index
,
update_geometry
=
True
,
local_frame
=
True
):
return
se3
.
jacobian
(
self
.
model
,
self
.
data
,
q
,
index
,
local_fram
e
,
update_geometry
)
def
computeJacobians
(
self
,
q
):
return
se3
.
computeJacobians
(
self
.
model
,
self
.
data
,
q
)
...
...
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