| 33 | } |
| 34 | |
| 35 | void exposeContactFrame() |
| 36 | { |
| 37 | bp::def( |
| 38 | "placementFromNormalAndPosition", placementFromNormalAndPosition, bp::args("normal", "position"), |
| 39 | "Returns a placement such that `normal` is the z-axis of the placement's rotation and " |
| 40 | "`position` is the translation of the placement.\n" |
| 41 | "Parameters:\n" |
| 42 | "\tnormal: z-axis of the placement's rotation.\n" |
| 43 | "\tposition: translation part of the placement.\n\n" |
| 44 | "Returns: M, the placement."); |
| 45 | |
| 46 | bp::def( |
| 47 | "placementFromNormalAndPositionDerivative", placementFromNormalAndPositionDerivative, bp::args("M"), |
| 48 | "Returns the derivatives of a placement w.r.t both the normal and position than generated " |
| 49 | "it. The normal is the z-axis of the placement's rotation and the position is the " |
| 50 | "translation of the part of the placement." |
| 51 | "Parameters:\n" |
| 52 | "\tM: a placement.\n\n" |
| 53 | "Returns: a tuple (dM_dnormal, dM_dposition), both are 6x3 matrices."); |
| 54 | } |
| 55 | |
| 56 | } // namespace python |
| 57 | } // namespace simple |
no outgoing calls
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