16 bp::class_<GravityCompensationResidual, bp::bases<StageFunction>>(
17 "GravityCompensationResidual", bp::no_init)
18 .def(bp::init<int, const MatrixXs &, const PinModel &>(
19 (
"self"_a,
"ndx",
"actuation_matrix",
"model")))
20 .def(bp::init<int, const PinModel &>((
"self"_a,
"ndx",
"model")))
22 .def_readonly(
"actuation_matrix",
24 .def_readonly(
"use_actuation_matrix",
28 bp::class_<GravityCompensationResidual::Data, bp::bases<StageFunctionData>>(
29 "GravityCompensationData", bp::no_init)
30 .def_readonly(
"pin_data", &GravityCompensationResidual::Data::pin_data_);
pinocchio::ModelTpl< Scalar, Options > PinModel
StageFunctionTpl< Scalar > StageFunction
StageFunctionDataTpl< Scalar > StageFunctionData