| 43 | namespace python { |
| 44 | |
| 45 | void Frame(py::module& m) |
| 46 | { |
| 47 | ::py::class_< |
| 48 | dart::dynamics::Frame, |
| 49 | dart::dynamics::Entity, |
| 50 | std::shared_ptr<dart::dynamics::Frame>>(m, "Frame") |
| 51 | .def( |
| 52 | "getRelativeTransform", |
| 53 | +[](const dart::dynamics::Frame* self) -> Eigen::Isometry3d { |
| 54 | return self->getRelativeTransform(); |
| 55 | }) |
| 56 | .def( |
| 57 | "getWorldTransform", |
| 58 | +[](const dart::dynamics::Frame* self) -> Eigen::Isometry3d { |
| 59 | return self->getWorldTransform(); |
| 60 | }) |
| 61 | .def( |
| 62 | "getTransform", |
| 63 | +[](const dart::dynamics::Frame* self) -> Eigen::Isometry3d { |
| 64 | return self->getTransform(); |
| 65 | }) |
| 66 | .def( |
| 67 | "getTransform", |
| 68 | +[](const dart::dynamics::Frame* self, |
| 69 | const dart::dynamics::Frame* withRespectTo) -> Eigen::Isometry3d { |
| 70 | return self->getTransform(withRespectTo); |
| 71 | }, |
| 72 | ::py::arg("withRespectTo")) |
| 73 | .def( |
| 74 | "getTransform", |
| 75 | +[](const dart::dynamics::Frame* self, |
| 76 | const dart::dynamics::Frame* withRespectTo, |
| 77 | const dart::dynamics::Frame* inCoordinatesOf) |
| 78 | -> Eigen::Isometry3d { |
| 79 | return self->getTransform(withRespectTo, inCoordinatesOf); |
| 80 | }, |
| 81 | ::py::arg("withRespectTo"), |
| 82 | ::py::arg("inCoordinatesOf")) |
| 83 | .def( |
| 84 | "getSpatialVelocity", |
| 85 | +[](const dart::dynamics::Frame* self) -> Eigen::Vector6d { |
| 86 | return self->getSpatialVelocity(); |
| 87 | }) |
| 88 | .def( |
| 89 | "getSpatialVelocity", |
| 90 | +[](const dart::dynamics::Frame* self, |
| 91 | const dart::dynamics::Frame* relativeTo, |
| 92 | const dart::dynamics::Frame* inCoordinatesOf) -> Eigen::Vector6d { |
| 93 | return self->getSpatialVelocity(relativeTo, inCoordinatesOf); |
| 94 | }, |
| 95 | ::py::arg("relativeTo"), |
| 96 | ::py::arg("inCoordinatesOf")) |
| 97 | .def( |
| 98 | "getSpatialVelocity", |
| 99 | +[](const dart::dynamics::Frame* self, const Eigen::Vector3d& offset) |
| 100 | -> Eigen::Vector6d { return self->getSpatialVelocity(offset); }, |
| 101 | ::py::arg("offset")) |
| 102 | .def( |
no test coverage detected