Hello, @bvadorno,
Owing to some peculiarities of Python (mixed with some CPP peculiarities), it would be convenient to have the following methods in DQ_WholeBody
DQ_SerialManipulator get_chain_as_serial_manipulator(int index)
DQ_HolonomicBase get_chain_as_holonomic_base(int index)
...
for all concrete subclasses of DQ_Kinematics.
The methods have to check if the conversion is possible and generate an error if the conversion is impossible.
E.g.:
The main reason for this requirement is that the Python bindings are not managing the memory well (it's freeing pointers it shouldn't be freeing), so it is simpler for us to return a copy instead of a reference, and only copies of concrete classes are possible.
Hello, @bvadorno,
Owing to some peculiarities of Python (mixed with some CPP peculiarities), it would be convenient to have the following methods in
DQ_WholeBodyfor all concrete subclasses of
DQ_Kinematics.The methods have to check if the conversion is possible and generate an error if the conversion is impossible.
E.g.:
The main reason for this requirement is that the Python bindings are not managing the memory well (it's freeing pointers it shouldn't be freeing), so it is simpler for us to return a copy instead of a reference, and only copies of concrete classes are possible.