aligator  0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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expose-pinocchio-features.cpp
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1
3#include "aligator/python/fwd.hpp"
4#include "aligator/python/utils.hpp"
5
6namespace aligator {
7namespace python {
8
9#ifdef ALIGATOR_WITH_PINOCCHIO
10
11void exposePinocchioSpaces();
12void exposePinocchioFunctions();
13void exposeFreeFwdDynamics();
14void exposeKinodynamics();
15void exposeConstrainedFwdDynamics();
16
17void exposePinocchioFeatures() {
18 bp::import("pinocchio");
19 exposePinocchioSpaces();
20 exposePinocchioFunctions();
21
22 {
23 bp::scope dyn = get_namespace("dynamics");
24 exposeFreeFwdDynamics();
25 exposeKinodynamics();
26 exposeConstrainedFwdDynamics();
27 }
28}
29
30#endif
31
32} // namespace python
33} // namespace aligator
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::exposePinocchioFeatures
void exposePinocchioFeatures()
Expose features using the Pinocchio rigid dynamics library.
Definition expose-pinocchio-features.cpp:17
aligator
Main package namespace.
Definition action-model-wrap.hpp:14