aligator  0.14.0
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
 
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expose-pinocchio-features.cpp
Go to the documentation of this file.
1
5
6namespace aligator {
7namespace python {
8
9#ifdef ALIGATOR_WITH_PINOCCHIO
10
12void exposePinocchioFunctions();
13void exposeFreeFwdDynamics();
14void exposeKinodynamics();
16
17void exposePinocchioFeatures() {
18 bp::import("pinocchio");
20 exposePinocchioFunctions();
21
22 {
23 bp::scope dyn = get_namespace("dynamics");
24 exposeFreeFwdDynamics();
25 exposeKinodynamics();
27 }
28}
29
30#endif
31
32} // namespace python
33} // namespace aligator
The Python bindings.
Definition blk-matrix.hpp:5
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
Main package namespace.