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Updated tutorial 404 to use features of newer pybind11 version,

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Introduced typedefs
This commit is contained in:
Sebastian Koch
2016-07-12 17:15:40 +02:00
parent 0258e9fb60
commit a6b2fd045a
10 changed files with 66 additions and 34 deletions
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python/py_igl/py_forward_kinematics.cpp
+3 -8
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@@ -19,18 +19,13 @@ m.def("forward_kinematics", []
const Eigen::MatrixXd& C,
const Eigen::MatrixXi& BE,
const Eigen::MatrixXi& P,
const std::vector<Eigen::Quaterniond, Eigen::aligned_allocator<Eigen::Quaterniond> > dQ,
py::list vQ,
const RotationList& dQ,
RotationList& vQ,
py::list vT
)
{
std::vector<Eigen::Quaterniond, Eigen::aligned_allocator<Eigen::Quaterniond> > vQl;
std::vector<Eigen::Vector3d> vTl;
igl::forward_kinematics(C, BE, P, dQ, vQl, vTl);
for (auto item : vQl) {
py::object obj = py::cast(item);
vQ.append(obj);
}
igl::forward_kinematics(C, BE, P, dQ, vQ, vTl);
for (auto item : vTl) {
py::object obj = py::cast(Eigen::MatrixXd(item));
vT.append(obj);