python binding for 'RelativeQuatConstraint'

Kun-Son · Dec 21, 2017 · 1bfef36 · 1bfef36
1 parent 37fcbc7
commit 1bfef36
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diff --git a/bindings/pydrake/solvers/ik.py b/bindings/pydrake/solvers/ik.py
@@ -9,6 +9,7 @@
                      InverseKinPointwise,
                      PostureConstraint,
                      RelativePositionConstraint,
+                     RelativeQuatConstraint,
                      WorldEulerConstraint,
                      WorldQuatConstraint,
                      WorldGazeDirConstraint,

diff --git a/bindings/pydrake/solvers/ik_py.cc b/bindings/pydrake/solvers/ik_py.cc
@@ -59,6 +59,21 @@ PYBIND11_MODULE(_ik_py, m) {
          py::arg("bTbp"),
          py::arg("tspan") = DrakeRigidBodyConstraint::default_tspan);
 
+  py::class_<RelativeQuatConstraint, RigidBodyConstraint>(
+    m, "RelativeQuatConstraint")
+    .def(py::init<RigidBodyTree<double>*,
+                  int,
+                  int,
+                  const Eigen::Vector4d&,
+                  double,
+                  const Eigen::Vector2d&>(),
+         py::arg("model"),
+         py::arg("bodyA_idx"),
+         py::arg("bodyB_idx"),
+         py::arg("quat_des"),
+         py::arg("tol"),
+         py::arg("tspan") = DrakeRigidBodyConstraint::default_tspan);
+
   py::class_<WorldPositionInFrameConstraint, RigidBodyConstraint>(
     m, "WorldPositionInFrameConstraint")
     .def(py::init<RigidBodyTree<double>*,