Python computeSubtreeMasses示例

示例#1

    def test_subtree_masses(self):
        pin.computeSubtreeMasses(self.model,self.data)

        data2 = self.model.createData()
        pin.centerOfMass(self.model,data2,self.q)

        for i in range(self.model.njoints):
            self.assertApprox(self.data.mass[i],data2.mass[i])

示例#2

文件： bindings_com.py 项目： stack-of-tasks/pinocchio

    def test_subtree_masses(self):
        pin.computeSubtreeMasses(self.model,self.data)

        data2 = self.model.createData()
        pin.centerOfMass(self.model,data2,self.q)

        for i in range(self.model.njoints):
            self.assertApprox(self.data.mass[i],data2.mass[i])