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dqrobotics / python

The DQ Robotics library in Python
https://dqrobotics.github.io
GNU Lesser General Public License v3.0
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Static jacobian derivatives #42

Closed juanjqo closed 1 year ago

juanjqo commented 1 year ago

@dqrobotics/developers

Hi @bvadorno and @mmmarinho

This PR adds the following static methods to DQ_Kinematics:

dqkinematics_py.def_static("distance_jacobian_derivative",     &DQ_Kinematics::distance_jacobian_derivative,    "Returns the distance Jacobian derivative");
dqkinematics_py.def_static("translation_jacobian_derivative",  &DQ_Kinematics::translation_jacobian_derivative, "Returns the translation Jacobian derivative");
dqkinematics_py.def_static("rotation_jacobian_derivative",     &DQ_Kinematics::rotation_jacobian_derivative,    "Returns the rotation Jacobian derivative");
dqkinematics_py.def_static("line_jacobian_derivative",         &DQ_Kinematics::line_jacobian_derivative,        "Returns the line Jacobian derivative");
dqkinematics_py.def_static("plane_jacobian_derivative",        &DQ_Kinematics::plane_jacobian_derivative,       "Returns the plane Jacobian derivative");

Requirements:

Tests:

Best regards,

Juancho