placo 0.7.5__0-cp310-cp310-manylinux_2_35_x86_64.whl → 0.7.6__0-cp310-cp310-manylinux_2_35_x86_64.whl

cmeel.prefix/lib/python3.10/site-packages/placo.pyi

@@ -4133,15 +4133,6 @@ None( (placo.HumanoidParameters)arg1) -> float :
 
 
 class HumanoidRobot:
-  T_world_support: any
-  """
-  
-None( (placo.HumanoidRobot)arg1) -> object :
-
-    C++ signature :
-        Eigen::Transform<double, 3, 2, 0> {lvalue} None(placo::humanoid::HumanoidRobot {lvalue})
-  """
-
   def HumanoidRobot(
     self,
     model_directory: str = "robot", # std::string
@@ -4228,7 +4219,7 @@ None( (placo.HumanoidRobot)arg1) -> object :
     """
     Computes all minimum distances between current collision pairs.
     
-    :return: <Element 'para' at 0x7f79e47dd760>
+    :return: <Element 'para' at 0x7f73dbc4b6a0>
     """
     ...
 
@@ -4250,7 +4241,7 @@ None( (placo.HumanoidRobot)arg1) -> object :
     
     :param any frame: the frame for which we want the jacobian 
     
-    :return: <Element 'para' at 0x7f79e47f44f0>
+    :return: <Element 'para' at 0x7f73dbc49760>
     """
     ...
 
@@ -4264,7 +4255,7 @@ None( (placo.HumanoidRobot)arg1) -> object :
     
     :param any frame: the frame for which we want the jacobian time variation 
     
-    :return: <Element 'para' at 0x7f79e4840540>
+    :return: <Element 'para' at 0x7f73dbbb5490>
     """
     ...
 
@@ -4327,6 +4318,11 @@ None( (placo.HumanoidRobot)arg1) -> object :
   ) -> numpy.ndarray:
     ...
 
+  def get_T_world_support(
+    arg1: HumanoidRobot,
+  ) -> object:
+    ...
+
   def get_T_world_trunk(
     self,
   ) -> numpy.ndarray:
@@ -4378,6 +4374,17 @@ None( (placo.HumanoidRobot)arg1) -> object :
     """
     ...
 
+  def get_joint_limits(
+    self,
+    name: str, # const std::string &
+  ) -> any:
+    """
+    Gets the limits for a given joint.
+    
+    :param str name: joint name
+    """
+    ...
+
   def get_joint_offset(
     self,
     name: str, # const std::string &
@@ -4560,7 +4567,7 @@ None( (placo.HumanoidRobot)arg1) -> object :
     
     :param bool stop_at_first: whether to stop at the first collision found 
     
-    :return: <Element 'para' at 0x7f79e47dff10>
+    :return: <Element 'para' at 0x7f73dbb2be70>
     """
     ...
 
@@ -4589,6 +4596,12 @@ None( (placo.HumanoidRobot)arg1) -> object :
     """
     ...
 
+  def set_T_world_support(
+    arg1: HumanoidRobot,
+    arg2: numpy.ndarray,
+  ) -> None:
+    ...
+
   def set_gear_ratio(
     self,
     joint_name: str, # const std::string &
@@ -4749,6 +4762,15 @@ None( (placo.HumanoidRobot)arg1) -> bool :
         bool {lvalue} None(placo::humanoid::HumanoidRobot {lvalue})
   """
 
+  support_side: any
+  """
+  
+None( (placo.HumanoidRobot)arg1) -> placo.HumanoidRobot_Side :
+
+    C++ signature :
+        placo::humanoid::HumanoidRobot::Side {lvalue} None(placo::humanoid::HumanoidRobot {lvalue})
+  """
+
   def torques_from_acceleration_with_fixed_frame(
     self,
     qdd_a: numpy.ndarray, # Eigen::VectorXd
@@ -7441,7 +7463,7 @@ None( (placo.RobotWrapper)arg1) -> object :
     """
     Computes all minimum distances between current collision pairs.
     
-    :return: <Element 'para' at 0x7f79e48a8950>
+    :return: <Element 'para' at 0x7f73dbcab3d0>
     """
     ...
 
@@ -7455,7 +7477,7 @@ None( (placo.RobotWrapper)arg1) -> object :
     
     :param any frame: the frame for which we want the jacobian 
     
-    :return: <Element 'para' at 0x7f79e48aa930>
+    :return: <Element 'para' at 0x7f73dbc09530>
     """
     ...
 
@@ -7469,7 +7491,7 @@ None( (placo.RobotWrapper)arg1) -> object :
     
     :param any frame: the frame for which we want the jacobian time variation 
     
-    :return: <Element 'para' at 0x7f79e473f560>
+    :return: <Element 'para' at 0x7f73dbdda980>
     """
     ...
 
@@ -7554,6 +7576,17 @@ None( (placo.RobotWrapper)arg1) -> object :
     """
     ...
 
+  def get_joint_limits(
+    self,
+    name: str, # const std::string &
+  ) -> any:
+    """
+    Gets the limits for a given joint.
+    
+    :param str name: joint name
+    """
+    ...
+
   def get_joint_offset(
     self,
     name: str, # const std::string &
@@ -7699,7 +7732,7 @@ None( (placo.RobotWrapper)arg1) -> object :
     
     :param bool stop_at_first: whether to stop at the first collision found 
     
-    :return: <Element 'para' at 0x7f79e48a9210>
+    :return: <Element 'para' at 0x7f73dbcabec0>
     """
     ...
 
@@ -7998,52 +8031,38 @@ None( (placo.Segment)arg1) -> object :
     """
     ...
 
-  def is_collinear(
-    self,
-    s: Segment, # placo::tools::Segment
-    epsilon: float = 1e-6, # double
-  ) -> bool:
-    """
-    Checks if this segment is collinear with another one.
-    
-    :param Segment s: The segment to check collinearity with. 
-    
-    :param float epsilon: To account for floating point errors.
-    """
-    ...
-
   def is_parallel(
     self,
     s: Segment, # placo::tools::Segment
-    epsilon: float = 1e-6, # double
+    epsilon: float = 1e-5, # double
   ) -> bool:
     """
     Checks if this segment is parallel to another one.
     
     :param Segment s: The segment to check parallelism with. 
     
-    :param float epsilon: To account for floating point errors.
+    :param float epsilon: The sinus of the error angle accepted for 2 segments to be considered parallel.
     """
     ...
 
   def is_point_aligned(
     self,
     point: numpy.ndarray, # const Eigen::Vector2d &
-    epsilon: float = 1e-6, # double
+    epsilon: float = 1e-5, # double
   ) -> bool:
     """
-    Checks if a point is aligned with this segment.
+    Checks if a point is aligned with this segment by checking if the segment is parallel to the segment formed by the start of this segment and the point.
     
     :param numpy.ndarray point: The point to check alignment with. 
     
-    :param float epsilon: To account for floating point errors.
+    :param float epsilon: The sinus of the error angle accepted for 2 segments to be considered parallel.
     """
     ...
 
   def is_point_in_segment(
     self,
     point: numpy.ndarray, # const Eigen::Vector2d &
-    epsilon: float = 1e-6, # double
+    epsilon: float = 1e-5, # double
   ) -> bool:
     """
     Checks if a point is in the segment.
@@ -8054,6 +8073,20 @@ None( (placo.Segment)arg1) -> object :
     """
     ...
 
+  def is_segment_aligned(
+    self,
+    s: Segment, # placo::tools::Segment
+    epsilon: float = 1e-5, # double
+  ) -> bool:
+    """
+    Checks if this segment is aligned with another one.
+    
+    :param Segment s: The segment to check alignment with. 
+    
+    :param float epsilon: To account for floating point errors.
+    """
+    ...
+
   def line_pass_through(
     self,
     s: Segment, # placo::tools::Segment
@@ -8076,6 +8109,11 @@ None( (placo.Segment)arg1) -> object :
     """
     ...
 
+  def norm(
+    self,
+  ) -> float:
+    ...
+
   start: any
   """
   

{placo-0.7.5.dist-info → placo-0.7.6.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: placo
-Version: 0.7.5
+Version: 0.7.6
 Summary: PlaCo: Rhoban Planning and Control
 Requires-Python: >= 3.9
 License-Expression: MIT
@@ -17,6 +17,8 @@ Requires-Dist: meshcat
 Requires-Dist: ischedule
 Provides-Extra: build
 Requires-Dist: pin[build] >=  3 ; extra == "build"
+Requires-Dist: cmeel-eigen ; extra == "build"
+Requires-Dist: eigenpy ; extra == "build"
 Requires-Dist: doxystub ; extra == "build"
 Description-Content-Type: text/markdown
 

{placo-0.7.5.dist-info → placo-0.7.6.dist-info}/RECORD

@@ -1,6 +1,6 @@
-cmeel.prefix/lib/liblibplaco.so,sha256=cLvMuU9rr__gMeE0Ue1SneOejtTcVNoTjYoEioEsRT4,2012216
-cmeel.prefix/lib/python3.10/site-packages/placo.pyi,sha256=GneHRmdITHi46W2d2PFMYReh4HN_jbrr4qvnZLeXCLs,194811
-cmeel.prefix/lib/python3.10/site-packages/placo.so,sha256=olX2Wu_MaWsYWVzOnIpmBTdymtXPC9RDHWp76Lk3uWM,8306016
+cmeel.prefix/lib/liblibplaco.so,sha256=f17tAhLRHoUCAg00c2Q8ELNtfw_OveZo_zb6ee7quec,2012184
+cmeel.prefix/lib/python3.10/site-packages/placo.pyi,sha256=Dl6qh0KXvzO5Lvnk4n1MTWtDraPjQY5IPGspUMGpNbY,195606
+cmeel.prefix/lib/python3.10/site-packages/placo.so,sha256=JSoRUiLb8_XRnAoIDyRyolXcQr2CKFShbtzC2TYUhII,8340280
 cmeel.prefix/lib/python3.10/site-packages/placo_utils/__init__.py,sha256=UN-fc5KfBWQ-_qkm0Ajouh-T9tBGm5aUtuzBiH1tRtk,80
 cmeel.prefix/lib/python3.10/site-packages/placo_utils/tf.py,sha256=fFRXNbeLlXzn5VOqYl7hcSuvOOtTDTiLi_Lpd9_l6wA,36
 cmeel.prefix/lib/python3.10/site-packages/placo_utils/view.py,sha256=7KiLYGpTKaPJtFHZ6kjERdOzJiPSDUtkIKHbziHpkYk,928
@@ -8,8 +8,8 @@ cmeel.prefix/lib/python3.10/site-packages/placo_utils/visualization.py,sha256=Mi
 cmeel.prefix/lib/python3.10/site-packages/placo_utils/__pycache__/__init__.cpython-310.pyc,sha256=ZyPws5tvsOBeBWRtYJFY8uV0xehuAx5LCXvQ82KOjpE,262
 cmeel.prefix/lib/python3.10/site-packages/placo_utils/__pycache__/tf.cpython-310.pyc,sha256=1ULLG8yW8jtQCDF35b_JPmNE_4yrYuASLjqZzth6zMs,224
 cmeel.prefix/lib/python3.10/site-packages/placo_utils/__pycache__/visualization.cpython-310.pyc,sha256=vU4YB42zy_IyUdnNL1kwpONjE8X-7ye7iwv4mO_Si04,6886
-placo-0.7.5.dist-info/licenses/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
-placo-0.7.5.dist-info/METADATA,sha256=EWX-9oqWtnHhwJ2tDm-836JfeLag-FUG9GhygUQ4Wno,2568
-placo-0.7.5.dist-info/WHEEL,sha256=CGpSWoBURgVtaMPvLWXBsECBIFvGPsCx-wd2AU5rQ8c,115
-placo-0.7.5.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-placo-0.7.5.dist-info/RECORD,,
+placo-0.7.6.dist-info/licenses/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
+placo-0.7.6.dist-info/METADATA,sha256=ewywCmaj0qebjF9Uv4jiKz1aAZiu_FTjtu5LP0SJog8,2656
+placo-0.7.6.dist-info/WHEEL,sha256=CGpSWoBURgVtaMPvLWXBsECBIFvGPsCx-wd2AU5rQ8c,115
+placo-0.7.6.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+placo-0.7.6.dist-info/RECORD,,