multibody-utils.hpp

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#pragma once
 
#include "aligator/python/fwd.hpp"
#include "aligator/modelling/multibody/fwd.hpp"
 
namespace aligator {
namespace python {
using RCMVector = PINOCCHIO_ALIGNED_STD_VECTOR(context::RCM);
using RCDVector = PINOCCHIO_ALIGNED_STD_VECTOR(context::RCD);
 
template <typename Class>
struct FrameAPIVisitor : bp::def_visitor<FrameAPIVisitor<Class>> {
 
  template <class PyClass> void visit(PyClass &cl) const {
    cl.add_property("frame_id", &Class::getFrameId, &Class::setFrameId,
                    "Get the Pinocchio frame ID.");
  }
};
 
} // namespace python
} // namespace aligator