classic-acceleration.hpp

//
// Copyright (c) 2019-2020 INRIA
//

#include "pinocchio/bindings/python/fwd.hpp"
#include "pinocchio/spatial.hpp"

namespace pinocchio
{
 namespace python
 {
 namespace bp = boost::python;

 void exposeClassicAcceleration()
 {
 bp::def(
 "classicAcceleration", &classicAcceleration<context::Motion, context::Motion>,
 bp::args("spatial_velocity", "spatial_acceleration"),
 "Computes the classic acceleration from a given spatial velocity and spatial "
 "acceleration.");

 bp::def(
 "classicAcceleration",
 &classicAcceleration<context::Motion, context::Motion, context::Scalar, context::Options>,
 bp::args("spatial_velocity", "spatial_acceleration", "placement"),
 "Computes the classic acceleration of a frame B, given the spatial velocity and spatial "
 "acceleration of a frame A,\n"
 "and the relative placement A^M_B.");
 }

 } // namespace python
} // namespace pinocchio