aligator/expose-pinocchio-dynamics_8cpp_source.html

#include "aligator/python/fwd.hpp"

#include "aligator/python/utils.hpp"


namespace aligator {

namespace python {


#ifdef ALIGATOR_WITH_PINOCCHIO


//

// Factor out the Pinocchio dynamics

//


void exposeFreeFwdDynamics();

void exposeKinodynamics();

void exposeConstrainedFwdDynamics();


void exposePinocchioDynamics() {

  bp::scope dyn = get_namespace("dynamics");

  exposeFreeFwdDynamics();

  exposeKinodynamics();

  exposeConstrainedFwdDynamics();

}


#endif


} // namespace python

} // namespace aligator

fwd.hpp

utils.hpp

aligator::python
The Python bindings.
Definition blk-matrix.hpp:5

aligator::python::get_namespace
bp::object get_namespace(const std::string &name)
Create or retrieve a Python scope (that is, a class or module namespace).
Definition utils.hpp:22

aligator::python::exposeConstrainedFwdDynamics
void exposeConstrainedFwdDynamics()
Definition expose-constrained-fwd.cpp:25

aligator::python::exposeFreeFwdDynamics
void exposeFreeFwdDynamics()
Definition expose-freefwd.cpp:11

aligator::python::exposePinocchioDynamics
void exposePinocchioDynamics()
Definition expose-pinocchio-dynamics.cpp:19

aligator::python::exposeKinodynamics
void exposeKinodynamics()
Definition expose-kinodynamics.cpp:12

aligator
Main package namespace.
Definition action-model-wrap.hpp:14