GCC Code Coverage Report

Directory: ./
File: include/pinocchio/bindings/python/multibody/joint/joints-models.hpp
Date: 2025-04-30 16:14:33
Exec Total Coverage
Lines: 146 157 93.0%
Branches: 103 210 49.0%
Line Branch Exec Source
1 //
2 // Copyright (c) 2015-2022 CNRS INRIA
3 //
4
5 #ifndef __pinocchio_python_joints_models_hpp__
6 #define __pinocchio_python_joints_models_hpp__
7
8 #include <boost/python.hpp>
9
10 #include "pinocchio/multibody/joint/joint-collection.hpp"
11 #include "pinocchio/multibody/joint/joint-composite.hpp"
12 #include "pinocchio/multibody/joint/joint-generic.hpp"
13 #include "pinocchio/multibody/joint/joint-mimic.hpp"
14
15 #include <eigenpy/eigen-to-python.hpp>
16
17 namespace pinocchio
18 {
19 namespace python
20 {
21 namespace bp = boost::python;
22
23 // generic expose_joint_model : do nothing special
24 template<class T>
25 864 bp::class_<T> & expose_joint_model(bp::class_<T> & cl)
26 {
27 864 return cl;
28 }
29
30 // specialization for JointModelRevolute
31 template<>
32 bp::class_<context::JointModelRX> &
33 72 expose_joint_model<context::JointModelRX>(bp::class_<context::JointModelRX> & cl)
34 {
35 return cl
36
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 72 .def(bp::init<>(
37 144 bp::args("self"), "Init JointModelRX with the X axis ([1, 0, 0]) as rotation axis."))
38
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 72 .def(
39 "getMotionAxis", &context::JointModelRX::getMotionAxis,
40 144 "Rotation axis of the JointModelRX.");
41 }
42
43 template<>
44 bp::class_<context::JointModelRY> &
45 72 expose_joint_model<context::JointModelRY>(bp::class_<context::JointModelRY> & cl)
46 {
47 return cl
48
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 72 .def(bp::init<>(
49 144 bp::args("self"), "Init JointModelRY with the Y axis ([0, 1, 0]) as rotation axis."))
50
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 72 .def(
51 "getMotionAxis", &context::JointModelRY::getMotionAxis,
52 144 "Rotation axis of the JointModelRY.");
53 }
54
55 template<>
56 bp::class_<context::JointModelRZ> &
57 72 expose_joint_model<context::JointModelRZ>(bp::class_<context::JointModelRZ> & cl)
58 {
59 return cl
60
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 72 .def(bp::init<>(
61 144 bp::args("self"), "Init JointModelRZ with the Z axis ([0, 0, 1]) as rotation axis"))
62
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 72 .def(
63 "getMotionAxis", &context::JointModelRZ::getMotionAxis,
64 144 "Rotation axis of the JointModelRZ.");
65 }
66
67 // specialization for JointModelRevoluteUnaligned
68 template<>
69 bp::class_<context::JointModelRevoluteUnaligned> &
70 72 expose_joint_model<context::JointModelRevoluteUnaligned>(
71 bp::class_<context::JointModelRevoluteUnaligned> & cl)
72 {
73 return cl
74
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 72 .def(bp::init<context::Scalar, context::Scalar, context::Scalar>(
75 144 bp::args("self", "x", "y", "z"),
76 "Init JointModelRevoluteUnaligned from the components x, y, z of the axis"))
77
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 72 .def(bp::init<const context::Vector3s &>(
78
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 144 bp::args("self", "axis"),
79 "Init JointModelRevoluteUnaligned from an axis with x-y-z components"))
80 144 .def_readwrite(
81
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 144 "axis", &context::JointModelRevoluteUnaligned::axis,
82 144 "Rotation axis of the JointModelRevoluteUnaligned.");
83 }
84
85 // specialization for JointModelRevoluteUnbounded
86 template<>
87 bp::class_<context::JointModelRUBX> &
88 72 expose_joint_model<context::JointModelRUBX>(bp::class_<context::JointModelRUBX> & cl)
89 {
90 return cl
91
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 72 .def(bp::init<>(
92 144 bp::args("self"), "Init JointModelRUBX with the X axis ([1, 0, 0]) as rotation axis"))
93
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 72 .def(
94 "getMotionAxis", &context::JointModelRUBX::getMotionAxis,
95 144 "Rotation axis of the JointModelRUBX.");
96 }
97
98 template<>
99 bp::class_<context::JointModelRUBY> &
100 72 expose_joint_model<context::JointModelRUBY>(bp::class_<context::JointModelRUBY> & cl)
101 {
102 return cl
103
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 72 .def(bp::init<>(
104 144 bp::args("self"), "Init JointModelRUBY with the Y axis ([0, 1, 0]) as rotation axis"))
105
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 72 .def(
106 "getMotionAxis", &context::JointModelRUBY::getMotionAxis,
107 144 "Rotation axis of the JointModelRUBY.");
108 }
109
110 template<>
111 bp::class_<context::JointModelRUBZ> &
112 72 expose_joint_model<context::JointModelRUBZ>(bp::class_<context::JointModelRUBZ> & cl)
113 {
114 return cl
115
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 72 .def(bp::init<>(
116 144 bp::args("self"), "Init JointModelRUBZ with the Z axis ([0, 0, 1]) as rotation axis"))
117
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 72 .def(
118 "getMotionAxis", &context::JointModelRUBZ::getMotionAxis,
119 144 "Rotation axis of the JointModelRUBZ.");
120 }
121
122 // specialization for JointModelPrismatic
123 template<>
124 bp::class_<context::JointModelPX> &
125 72 expose_joint_model<context::JointModelPX>(bp::class_<context::JointModelPX> & cl)
126 {
127 return cl
128
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 72 .def(bp::init<>(
129 144 bp::args("self"), "Init JointModelPX with the X axis ([1, 0, 0]) as rotation axis"))
130
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 72 .def(
131 "getMotionAxis", &context::JointModelPX::getMotionAxis,
132 144 "Rotation axis of the JointModelPX.");
133 }
134
135 template<>
136 bp::class_<context::JointModelPY> &
137 72 expose_joint_model<context::JointModelPY>(bp::class_<context::JointModelPY> & cl)
138 {
139 return cl
140
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 72 .def(bp::init<>(
141 144 bp::args("self"), "Init JointModelPY with the Y axis ([0, 1, 0]) as rotation axis"))
142
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 72 .def(
143 "getMotionAxis", &context::JointModelPY::getMotionAxis,
144 144 "Rotation axis of the JointModelPY.");
145 }
146
147 template<>
148 bp::class_<context::JointModelPZ> &
149 72 expose_joint_model<context::JointModelPZ>(bp::class_<context::JointModelPZ> & cl)
150 {
151 return cl
152
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 72 .def(bp::init<>(
153 144 bp::args("self"), "Init JointModelPZ with the Z axis ([0, 0, 1]) as rotation axis"))
154
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 72 .def(
155 "getMotionAxis", &context::JointModelPZ::getMotionAxis,
156 144 "Rotation axis of the JointModelPZ.");
157 }
158
159 // specialization for JointModelPrismaticUnaligned
160 template<>
161 bp::class_<context::JointModelPrismaticUnaligned> &
162 72 expose_joint_model<context::JointModelPrismaticUnaligned>(
163 bp::class_<context::JointModelPrismaticUnaligned> & cl)
164 {
165 return cl
166
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 72 .def(bp::init<context::Scalar, context::Scalar, context::Scalar>(
167 144 bp::args("self", "x", "y", "z"),
168 "Init JointModelPrismaticUnaligned from the components x, y, z of the axis"))
169
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 72 .def(bp::init<const context::Vector3s &>(
170
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 144 bp::args("self", "axis"),
171 "Init JointModelPrismaticUnaligned from an axis with x-y-z components"))
172 144 .def_readwrite(
173
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 144 "axis", &context::JointModelPrismaticUnaligned::axis,
174 144 "Translation axis of the JointModelPrismaticUnaligned.");
175 }
176
177 // specialization for JointModelHelicalUnaligned
178 template<>
179 bp::class_<context::JointModelHelicalUnaligned> &
180 72 expose_joint_model<context::JointModelHelicalUnaligned>(
181 bp::class_<context::JointModelHelicalUnaligned> & cl)
182 {
183 return cl
184
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 72 .def(bp::init<context::Scalar, context::Scalar, context::Scalar, context::Scalar>(
185 144 bp::args("self", "x", "y", "z", "pitch"),
186 "Init JointModelHelicalUnaligned from the components x, y, z of the axis and the pitch"))
187
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188
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 144 bp::args("self", "axis", "pitch"),
189 "Init JointModelHelicalUnaligned from an axis with x-y-z components and the pitch"))
190 144 .def_readwrite(
191
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 72 "axis", &context::JointModelHelicalUnaligned::axis,
192 "Translation axis of the JointModelHelicalUnaligned.")
193 144 .def_readwrite(
194
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 144 "pitch", &context::JointModelHelicalUnaligned::m_pitch,
195 144 "Pitch h of the JointModelHelicalUnaligned.");
196 }
197
198 // specialization for JointModelHelical
199 template<>
200 bp::class_<context::JointModelHX> &
201 72 expose_joint_model<context::JointModelHX>(bp::class_<context::JointModelHX> & cl)
202 {
203 return cl
204
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 72 .def(bp::init<context::Scalar>(
205 144 bp::args("self", "pitch"),
206 "Init JointModelHX with pitch value and the X axis ([1, 0, 0]) as a rotation axis."))
207
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 72 .def(bp::init<>(
208
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 144 bp::args("self"),
209 "Init JointModelHX with pitch 0.0 and the X axis ([1, 0, 0]) as a rotation axis."))
210
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 72 .def(
211 "getMotionAxis", &context::JointModelHX::getMotionAxis,
212 "Rotation axis of the JointModelHX.")
213
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 144 .def_readwrite("pitch", &context::JointModelHX::m_pitch, "Pitch h of the JointModelHX.");
214 }
215
216 template<>
217 bp::class_<context::JointModelHY> &
218 72 expose_joint_model<context::JointModelHY>(bp::class_<context::JointModelHY> & cl)
219 {
220 return cl
221
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 72 .def(bp::init<context::Scalar>(
222 144 bp::args("self", "pitch"),
223 "Init JointModelHY with pitch value and the Y axis ([0, 1, 0]) as a rotation axis."))
224
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225
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226 "Init JointModelHY with pitch 0.0 and the Y axis ([0, 1, 0]) as a rotation axis."))
227
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 72 .def(
228 "getMotionAxis", &context::JointModelHY::getMotionAxis,
229 "Rotation axis of the JointModelHY.")
230
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 144 .def_readwrite("pitch", &context::JointModelHY::m_pitch, "Pitch h of the JointModelHY.");
231 }
232
233 template<>
234 bp::class_<context::JointModelHZ> &
235 72 expose_joint_model<context::JointModelHZ>(bp::class_<context::JointModelHZ> & cl)
236 {
237 return cl
238
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239 144 bp::args("self", "pitch"),
240 "Init JointModelHZ with pitch value and the Z axis ([0, 0, 1]) as a rotation axis."))
241
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242
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 144 bp::args("self"),
243 "Init JointModelHZ with pitch 0.0 and the Z axis ([0, 0, 1]) as a rotation axis."))
244
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 72 .def(
245 "getMotionAxis", &context::JointModelHZ::getMotionAxis,
246 "Rotation axis of the JointModelHZ.")
247
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 144 .def_readwrite("pitch", &context::JointModelHZ::m_pitch, "Pitch h of the JointModelHZ.");
248 }
249
250 // specialization for JointModelUniversal
251 template<>
252 bp::class_<context::JointModelUniversal> &
253 72 expose_joint_model<context::JointModelUniversal>(bp::class_<context::JointModelUniversal> & cl)
254 {
255 return cl
256
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 72 .def(bp::init<
257 context::Scalar, context::Scalar, context::Scalar, context::Scalar, context::Scalar,
258 context::Scalar>(
259 144 bp::args("self", "x1", "y1", "z1", "x2", "y2", "z2"),
260 "Init JointModelUniversal from the components x, y, z of the axes"))
261
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 72 .def(bp::init<const context::Vector3s &, const context::Vector3s &>(
262
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 144 bp::args("self", "axis1", "axis2"),
263 "Init JointModelUniversal from two axes with x-y-z components"))
264 144 .def_readwrite(
265
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 72 "axis1", &context::JointModelUniversal::axis1,
266 "First rotation axis of the JointModelUniversal.")
267 144 .def_readwrite(
268
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 144 "axis2", &context::JointModelUniversal::axis2,
269 144 "Second rotation axis of the JointModelUniversal.");
270 }
271
272 // specialization for JointModelComposite
273
274 struct JointModelCompositeAddJointVisitor
275 : public boost::static_visitor<context::JointModelComposite &>
276 {
277 context::JointModelComposite & m_joint_composite;
278 const context::SE3 & m_joint_placement;
279
280 8 JointModelCompositeAddJointVisitor(
281 context::JointModelComposite & joint_composite, const context::SE3 & joint_placement)
282 8 : m_joint_composite(joint_composite)
283 8 , m_joint_placement(joint_placement)
284 {
285 8 }
286
287 template<typename JointModelDerived>
288 16 context::JointModelComposite & operator()(JointModelDerived & jmodel) const
289 {
290 16 return m_joint_composite.addJoint(jmodel, m_joint_placement);
291 }
292 }; // struct JointModelCompositeAddJointVisitor
293
294 8 static context::JointModelComposite & addJoint_proxy(
295 context::JointModelComposite & joint_composite,
296 const context::JointModel & jmodel,
297 const context::SE3 & joint_placement = context::SE3::Identity())
298 {
299
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 8 return boost::apply_visitor(
300 16 JointModelCompositeAddJointVisitor(joint_composite, joint_placement), jmodel.toVariant());
301 }
302
303 struct JointModelCompositeConstructorVisitor
304 : public boost::static_visitor<context::JointModelComposite *>
305 {
306 const context::SE3 & m_joint_placement;
307
308 3 JointModelCompositeConstructorVisitor(const context::SE3 & joint_placement)
309 3 : m_joint_placement(joint_placement)
310 {
311 3 }
312
313 template<typename JointModelDerived>
314 6 context::JointModelComposite * operator()(JointModelDerived & jmodel) const
315 {
316
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 6 return new context::JointModelComposite(jmodel, m_joint_placement);
317 }
318 }; // struct JointModelCompositeConstructorVisitor
319
320 2 static context::JointModelComposite * init_proxy1(const context::JointModel & jmodel)
321 {
322
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 2 return boost::apply_visitor(
323 4 JointModelCompositeConstructorVisitor(context::SE3::Identity()), jmodel);
324 }
325
326 static context::JointModelComposite *
327 1 init_proxy2(const context::JointModel & jmodel, const context::SE3 & joint_placement)
328 {
329
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 1 return boost::apply_visitor(JointModelCompositeConstructorVisitor(joint_placement), jmodel);
330 }
331
332 template<>
333 bp::class_<context::JointModelComposite> &
334 72 expose_joint_model<context::JointModelComposite>(bp::class_<context::JointModelComposite> & cl)
335 {
336 return cl
337
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 72 .def(bp::init<const size_t>(
338 144 bp::args("self", "size"), "Init JointModelComposite with a defined size"))
339
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 72 .def(
340 "__init__",
341
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 144 bp::make_constructor(init_proxy1, bp::default_call_policies(), bp::args("joint_model")),
342 "Init JointModelComposite from a joint")
343
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 72 .def(
344 "__init__",
345
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 72 bp::make_constructor(
346
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 144 init_proxy2, bp::default_call_policies(), bp::args("joint_model", "joint_placement")),
347 "Init JointModelComposite from a joint and a placement")
348
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 72 .add_property("joints", &context::JointModelComposite::joints)
349
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 72 .add_property("jointPlacements", &context::JointModelComposite::jointPlacements)
350
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 72 .add_property("njoints", &context::JointModelComposite::njoints)
351
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 72 .def(
352 "addJoint", &addJoint_proxy,
353
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 148 (bp::arg("self"), bp::arg("joint_model"),
354
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 144 bp::arg("joint_placement") = context::SE3::Identity()),
355 80 "Add a joint to the vector of joints.", bp::return_internal_reference<>())
356
357 #ifndef PINOCCHIO_PYTHON_SKIP_COMPARISON_OPERATIONS
358
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 68 .def(bp::self == bp::self)
359
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 136 .def(bp::self != bp::self)
360 #endif
361 ;
362 }
363
364 // Specialization for JointModelMimic
365 struct JointModelMimicConstructorVisitor
366 : public boost::static_visitor<context::JointModelMimic *>
367 {
368 const context::Scalar & m_scaling;
369 const context::Scalar & m_offset;
370
371 ✗ JointModelMimicConstructorVisitor(
372 const context::Scalar & scaling, const context::Scalar & offset)
373 ✗ : m_scaling(scaling)
374 ✗ , m_offset(offset)
375 {
376 }
377
378 template<typename JointModelDerived>
379 ✗ context::JointModelMimic * operator()(const JointModelDerived & jmodel) const
380 {
381
382 ✗ return new context::JointModelMimic(jmodel, m_scaling, m_offset);
383 }
384
385 }; // struct JointModelMimicConstructorVisitor
386
387 ✗ static context::JointModelMimic * init_proxy(
388 const context::JointModel & jmodel,
389 const context::Scalar & scaling,
390 const context::Scalar & offset)
391 {
392 ✗ return boost::apply_visitor(JointModelMimicConstructorVisitor(scaling, offset), jmodel);
393 }
394
395 ✗ static context::Scalar get_scaling(context::JointModelMimic & jmodel)
396 {
397 ✗ return jmodel.scaling();
398 }
399
400 ✗ static context::Scalar get_offset(context::JointModelMimic & jmodel)
401 {
402 ✗ return jmodel.offset();
403 }
404
405 template<>
406 bp::class_<context::JointModelMimic> &
407 72 expose_joint_model<context::JointModelMimic>(bp::class_<context::JointModelMimic> & cl)
408 {
409 return cl
410
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 72 .def(
411 "__init__",
412
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 144 bp::make_constructor(
413 144 init_proxy, bp::default_call_policies(), bp::args("joint_model", "scaling", "offset")),
414 "Init JointModelMimic from an existing joint with scaling and offset.")
415
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 72 .add_property("scaling", &get_scaling)
416
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 144 .add_property("offset", &get_offset);
417 }
418
419 } // namespace python
420 } // namespace pinocchio
421
422 #endif // ifndef __pinocchio_python_joint_models_hpp__
423