From 61d92b975697ef3350cf2665bfabb54ad87a58ac Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@laas.fr>
Date: Wed, 9 Nov 2016 17:50:45 +0100
Subject: [PATCH] add getDimensionExtraConfigSpace and quaternionFromVector
method in python
---
src/hpp/corbaserver/rbprm/rbprmbuilder.py | 9 +++++++++
1 file changed, 9 insertions(+)
diff --git a/src/hpp/corbaserver/rbprm/rbprmbuilder.py b/src/hpp/corbaserver/rbprm/rbprmbuilder.py
index c8638ed1..945beb6c 100755
--- a/src/hpp/corbaserver/rbprm/rbprmbuilder.py
+++ b/src/hpp/corbaserver/rbprm/rbprmbuilder.py
@@ -303,3 +303,12 @@ class Builder (object):
def getJacobianCenterOfMass (self):
return self.client.basic.robot.getJacobianCenterOfMass ()
##\}
+
+ ## Get the dimension of the extra configuration space
+ def getDimensionExtraConfigSpace(self):
+ return self.client.basic.robot.getDimensionExtraConfigSpace()
+
+ ## Convert a direction vector to a quaternion (use Eigen::Quaterniond::FromTwoVectors with Z vector)
+ # \param u the vector director
+ def quaternionFromVector(self,vector):
+ return self.client.basic.robot.quaternionFromVector(vector)
--
GitLab