63 lines
1.9 KiB
C++
63 lines
1.9 KiB
C++
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//m.def("forward_kinematics", []
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//(
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// const Eigen::MatrixXd& C,
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// const Eigen::MatrixXi& BE,
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// const Eigen::MatrixXi& P,
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// std::vector<Eigen::Quaterniond, Eigen::aligned_allocator<Eigen::Quaterniond> > & dQ,
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// std::vector<Eigen::Vector3d> & dT,
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// std::vector<Eigen::Quaterniond, Eigen::aligned_allocator<Eigen::Quaterniond> > & vQ,
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// std::vector<Eigen::Vector3d> & vT
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//)
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//{
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// return igl::forward_kinematics(C, BE, P, dQ, dT, vQ, vT);
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//}, __doc_igl_forward_kinematics,
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//py::arg("C"), py::arg("BE"), py::arg("P"), py::arg("dQ"), py::arg("dT"), py::arg("vQ"), py::arg("vT"));
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m.def("forward_kinematics", []
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(
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const Eigen::MatrixXd& C,
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const Eigen::MatrixXi& BE,
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const Eigen::MatrixXi& P,
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const RotationList& dQ,
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RotationList& vQ,
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py::list vT
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)
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{
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std::vector<Eigen::Vector3d> vTl;
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igl::forward_kinematics(C, BE, P, dQ, vQ, vTl);
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for (auto item : vTl) {
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py::object obj = py::cast(Eigen::MatrixXd(item));
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vT.append(obj);
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}
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}, __doc_igl_forward_kinematics,
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py::arg("C"), py::arg("BE"), py::arg("P"), py::arg("dQ"), py::arg("vQ"), py::arg("vT"));
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//m.def("forward_kinematics", []
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//(
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// const Eigen::MatrixXd& C,
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// const Eigen::MatrixXi& BE,
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// const Eigen::MatrixXi& P,
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// std::vector<Eigen::Quaterniond, Eigen::aligned_allocator<Eigen::Quaterniond> > & dQ,
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// std::vector<Eigen::Vector3d> & dT,
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// Eigen::MatrixXd& T
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//)
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//{
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// return igl::forward_kinematics(C, BE, P, dQ, dT, T);
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//}, __doc_igl_forward_kinematics,
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//py::arg("C"), py::arg("BE"), py::arg("P"), py::arg("dQ"), py::arg("dT"), py::arg("T"));
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//m.def("forward_kinematics", []
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//(
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// const Eigen::MatrixXd& C,
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// const Eigen::MatrixXi& BE,
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// const Eigen::MatrixXi& P,
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// std::vector<Eigen::Quaterniond, Eigen::aligned_allocator<Eigen::Quaterniond> > & dQ,
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// Eigen::MatrixXd& T
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//)
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//{
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// return igl::forward_kinematics(C, BE, P, dQ, T);
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//}, __doc_igl_forward_kinematics,
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//py::arg("C"), py::arg("BE"), py::arg("P"), py::arg("dQ"), py::arg("T"));
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