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Implement the python bindings for the iDynTree to manif conversions #610

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merged 3 commits into from
Feb 24, 2023
Merged

Implement the python bindings for the iDynTree to manif conversions #610

merged 3 commits into from
Feb 24, 2023

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GiulioRomualdi
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@GiulioRomualdi GiulioRomualdi commented Feb 24, 2023 •
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With this PR it will be possible to write the following code in python

import idyntree.swig as idyn
import bipedal_locomotion_framework as blf

rot_idyn = idyn.Rotation.Identity()
trans_idyn = idyn.Transform.Identity()

so3 = blf.conversions.to_manif_rot(rot_idyn)
se3 = blf.conversions.to_manif_pose(trans_idyn)

@GiulioRomualdi GiulioRomualdi self-assigned this Feb 24, 2023
@GiulioRomualdi GiulioRomualdi marked this pull request as ready for review February 24, 2023 13:00
S-Dafarra
S-Dafarra approved these changes Feb 24, 2023
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Maybe it can be good to have tests on this. LGTM anyway

@GiulioRomualdi
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Maybe it can be good to have tests on this. LGTM anyway

You're right. Here the tests: 4a16b5f

@GiulioRomualdi GiulioRomualdi merged commit 49888bc into master Feb 24, 2023
@GiulioRomualdi GiulioRomualdi deleted the bindings/manif_conversion branch February 24, 2023 20:14
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@S-Dafarra S-Dafarra S-Dafarra approved these changes

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