expose-pinocchio-features.cpp

Go to the documentation of this file.

 
#include "aligator/python/fwd.hpp"
#include "aligator/python/utils.hpp"
 
namespace aligator {
namespace python {
 
#ifdef ALIGATOR_WITH_PINOCCHIO
 
void exposePinocchioFunctions();
void exposeFreeFwdDynamics();
void exposeKinodynamics();
#ifdef ALIGATOR_PINOCCHIO_V3
void exposeConstrainedFwdDynamics();
#endif
 
void exposePinocchioFeatures() {
  bp::import("pinocchio");
  exposePinocchioFunctions();
 
  {
    bp::scope dyn = get_namespace("dynamics");
    exposeFreeFwdDynamics();
    exposeKinodynamics();
 
#ifdef ALIGATOR_PINOCCHIO_V3
    exposeConstrainedFwdDynamics();
#endif
  }
}
 
#endif
 
} // namespace python
} // namespace aligator