-
Notifications
You must be signed in to change notification settings - Fork 9
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Browse files
Browse the repository at this point in the history
…@juanjqo) * [DQ_SerialWholeBody_py.cpp] Added two raw_fkm methods to fix #54 * [DQ_SerialWholeBody_py.cpp] Updated the copyright year.
- Loading branch information
Showing
1 changed file
with
8 additions
and
2 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -1,5 +1,5 @@ | ||
/** | ||
(C) Copyright 2020 DQ Robotics Developers | ||
(C) Copyright 2020-2023 DQ Robotics Developers | ||
This file is part of DQ Robotics. | ||
|
@@ -17,7 +17,11 @@ This file is part of DQ Robotics. | |
along with DQ Robotics. If not, see <http://www.gnu.org/licenses/>. | ||
Contributors: | ||
- Murilo M. Marinho ([email protected]) | ||
1. Murilo M. Marinho ([email protected]) | ||
- Responsible for the original implementation. | ||
2. Juan Jose Quiroz Omana ([email protected]) | ||
- Added the two raw_fkm methods to fix issue 54 (https://github.com/dqrobotics/python/issues/54) | ||
*/ | ||
|
||
#include "../dqrobotics_module.h" | ||
|
@@ -36,6 +40,8 @@ void init_DQ_SerialWholeBody_py(py::module& m) | |
dqserialwholebody_py.def("add",&DQ_SerialWholeBody::add,"Adds a DQ_Kinematics pointer to the kinematic chain."); | ||
dqserialwholebody_py.def("fkm",(DQ (DQ_SerialWholeBody::*)(const VectorXd&) const)&DQ_SerialWholeBody::fkm,"Gets the fkm."); | ||
dqserialwholebody_py.def("fkm",(DQ (DQ_SerialWholeBody::*)(const VectorXd&,const int&) const)&DQ_SerialWholeBody::fkm,"Gets the fkm."); | ||
dqserialwholebody_py.def("raw_fkm",(DQ (DQ_SerialWholeBody::*)(const VectorXd&) const)&DQ_SerialWholeBody::raw_fkm,"Gets the fkm but without considering base and end-effector changes."); | ||
dqserialwholebody_py.def("raw_fkm",(DQ (DQ_SerialWholeBody::*)(const VectorXd&, const int&) const)&DQ_SerialWholeBody::raw_fkm,"Gets the fkm but without considering base and end-effector changes."); | ||
dqserialwholebody_py.def("get_dim_configuration_space",&DQ_SerialWholeBody::get_dim_configuration_space,"Gets the dimention of the configuration space"); | ||
dqserialwholebody_py.def("get_chain",&DQ_SerialWholeBody::get_chain, "Returns the DQ_Kinematics at a given index of the chain"); | ||
dqserialwholebody_py.def("get_chain_as_serial_manipulator_dh",&DQ_SerialWholeBody::get_chain_as_serial_manipulator_dh, "Returns the DQ_SerialManipulatorDH at a given index of the chain"); | ||
|