From 0ef2856feceeec710ef1e4c4c0ba8aba530b6bc6 Mon Sep 17 00:00:00 2001 From: Murilo Marinho Date: Wed, 6 May 2020 19:42:40 -0700 Subject: [PATCH] Added missing DQ_SeriaLWholeBody_py.cpp file --- cpp | 2 +- src/robot_modeling/DQ_SerialWholeBody_py.cpp | 41 ++++++++++++++++++++ 2 files changed, 42 insertions(+), 1 deletion(-) create mode 100644 src/robot_modeling/DQ_SerialWholeBody_py.cpp diff --git a/cpp b/cpp index dc9fa68..58e6b5e 160000 --- a/cpp +++ b/cpp @@ -1 +1 @@ -Subproject commit dc9fa682a39065c3133fab40c004c3bea3c91a03 +Subproject commit 58e6b5ebf889cbba1e5c7aeaf6616de56db4ca5a diff --git a/src/robot_modeling/DQ_SerialWholeBody_py.cpp b/src/robot_modeling/DQ_SerialWholeBody_py.cpp new file mode 100644 index 0000000..eb954d7 --- /dev/null +++ b/src/robot_modeling/DQ_SerialWholeBody_py.cpp @@ -0,0 +1,41 @@ +/** +(C) Copyright 2020 DQ Robotics Developers + +This file is part of DQ Robotics. + + DQ Robotics is free software: you can redistribute it and/or modify + it under the terms of the GNU Lesser General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + DQ Robotics is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public License + along with DQ Robotics. If not, see . + +Contributors: +- Murilo M. Marinho (murilo@nml.t.u-tokyo.ac.jp) +*/ + +#include "../dqrobotics_module.h" + +void init_DQ_SerialWholeBody_py(py::module& m) +{ + /***************************************************** + * DQ WholeBody + * **************************************************/ + py::class_ dqserialwholebody_py(m,"DQ_SerialWholeBody"); + dqserialwholebody_py.def(py::init>()); + dqserialwholebody_py.def("add",&DQ_SerialWholeBody::add,"Adds a DQ_Kinematics pointer to the kinematic chain."); + dqserialwholebody_py.def("fkm",(DQ (DQ_SerialWholeBody::*)(const VectorXd&) const)&DQ_SerialWholeBody::fkm,"Gets the fkm."); + dqserialwholebody_py.def("fkm",(DQ (DQ_SerialWholeBody::*)(const VectorXd&,const int&) const)&DQ_SerialWholeBody::fkm,"Gets the fkm."); + dqserialwholebody_py.def("get_dim_configuration_space",&DQ_SerialWholeBody::get_dim_configuration_space,"Gets the dimention of the configuration space"); + dqserialwholebody_py.def("get_chain",&DQ_SerialWholeBody::get_chain, "Returns the DQ_Kinematics at a given index of the chain"); + dqserialwholebody_py.def("get_chain_as_serial_manipulator",&DQ_SerialWholeBody::get_chain_as_serial_manipulator, "Returns the DQ_SerialManipulator at a given index of the chain"); + dqserialwholebody_py.def("get_chain_as_holonomic_base",&DQ_SerialWholeBody::get_chain_as_holonomic_base, "Returns the DQ_HolonomicBase at a given index of the chain"); + dqserialwholebody_py.def("pose_jacobian",(MatrixXd (DQ_SerialWholeBody::*)(const VectorXd&, const int&) const)&DQ_SerialWholeBody::pose_jacobian,"Returns the pose Jacobian"); + dqserialwholebody_py.def("pose_jacobian",(MatrixXd (DQ_SerialWholeBody::*)(const VectorXd&) const)&DQ_SerialWholeBody::pose_jacobian,"Returns the pose Jacobian"); +}