From b34a4e4dad02591f71c8665eff896e104abb3fed Mon Sep 17 00:00:00 2001
From: Carlos Mastalli <carlos.mastalli@laas.fr>
Date: Fri, 30 Aug 2019 17:15:51 +0200
Subject: [PATCH] [bindings] Expose the Jacobian of the impulse constraint
w.r.t. to configuration point
---
bindings/python/crocoddyl/multibody/impulse-base.hpp | 2 ++
.../crocoddyl/multibody/impulses/multiple-impulses.hpp | 8 ++++----
2 files changed, 6 insertions(+), 4 deletions(-)
diff --git a/bindings/python/crocoddyl/multibody/impulse-base.hpp b/bindings/python/crocoddyl/multibody/impulse-base.hpp
index 1d99d58f..be0becea 100644
--- a/bindings/python/crocoddyl/multibody/impulse-base.hpp
+++ b/bindings/python/crocoddyl/multibody/impulse-base.hpp
@@ -90,6 +90,8 @@ void exposeImpulseAbstract() {
"pinocchio data")
.add_property("Jc", bp::make_getter(&ImpulseDataAbstract::Jc, bp::return_value_policy<bp::return_by_value>()),
bp::make_setter(&ImpulseDataAbstract::Jc), "impulse Jacobian")
+ .add_property("Vq", bp::make_getter(&ImpulseDataAbstract::Vq, bp::return_value_policy<bp::return_by_value>()),
+ bp::make_setter(&ImpulseDataAbstract::Vq), "Jacobian of the impulse constraint")
.def_readwrite("joint", &ImpulseDataAbstract::joint, "joint index of the impulse frame")
.def_readwrite("f", &ImpulseDataAbstract::f, "external spatial forces");
}
diff --git a/bindings/python/crocoddyl/multibody/impulses/multiple-impulses.hpp b/bindings/python/crocoddyl/multibody/impulses/multiple-impulses.hpp
index 6ac879c0..26c43b07 100644
--- a/bindings/python/crocoddyl/multibody/impulses/multiple-impulses.hpp
+++ b/bindings/python/crocoddyl/multibody/impulses/multiple-impulses.hpp
@@ -47,10 +47,10 @@ void exposeImpulseMultiple() {
"impulse model");
bp::class_<ImpulseModelMultiple, boost::noncopyable>(
- "ImpulseModelMultiple", bp::init<StateMultibody&>(
- bp::args(" self", " state"),
- "Initialize the multiple impulse model.\n\n"
- ":param state: state of the multibody system")[bp::with_custodian_and_ward<1, 2>()])
+ "ImpulseModelMultiple",
+ bp::init<StateMultibody&>(bp::args(" self", " state"),
+ "Initialize the multiple impulse model.\n\n"
+ ":param state: state of the multibody system")[bp::with_custodian_and_ward<1, 2>()])
.def("addImpulse", &ImpulseModelMultiple::addImpulse, bp::with_custodian_and_ward<1, 3>(),
bp::args(" self", " name", " impulse"),
"Add a impulse item.\n\n"
--
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