Create the python bindings for BipedalLocomotion::Math::StandardAccel…

…erationOfGravitation

bindings/python/CMakeLists.txt

@@ -15,6 +15,7 @@ pybind11_add_module(pybind11_blf MODULE
  SwingFootPlaner.cpp
  TimeVaryingDCMPlanner.cpp
  RobotInterface.cpp
+ Constants.cpp
  )
 
 target_link_libraries(pybind11_blf PUBLIC
@@ -23,6 +24,7 @@ target_link_libraries(pybind11_blf PUBLIC
  BipedalLocomotion::System
  BipedalLocomotion::RobotInterfaceYarpImplementation
  BipedalLocomotion::Contacts
+ BipedalLocomotion::Math
  )
 
 target_include_directories(pybind11_blf PRIVATE

bindings/python/Constants.cpp

@@ -0,0 +1,18 @@
+/**
+ * @file Constants.cpp
+ * @authors Giulio Romualdi
+ * @copyright 2021 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * distributed under the terms of the GNU Lesser General Public License v2.1 or any later version.
+ */
+
+#include "BipedalLocomotion/Math/Constants.h"
+
+#include "bipedal_locomotion_framework.h"
+
+void BipedalLocomotion::bindings::CreateConstants(pybind11::module& module)
+{
+ using namespace BipedalLocomotion::Math;
+
+ module.attr("StandardAccelerationOfGravitation")
+ = pybind11::float_(StandardAccelerationOfGravitation);
+}

bindings/python/bipedal_locomotion_framework.cpp

@@ -48,6 +48,8 @@ PYBIND11_MODULE(bindings, m)
  bindings::CreateISensorBridge(m);
  bindings::CreateYarpSensorBridge(m);
 
+ // Constants.cpp
+ bindings::CreateConstants(m);
 }
 
 std::string bindings::ToString(const manif::SE3d& se3)

bindings/python/bipedal_locomotion_framework.h

@@ -58,4 +58,7 @@ void CreateYarpRobotControl(pybind11::module& module);
 void CreateISensorBridge(pybind11::module& module);
 void CreateYarpSensorBridge(pybind11::module& module);
 
+// Constants.cpp
+void CreateConstants(pybind11::module& module);
+
 } // namespace BipedalLocomotion::bindings