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// Copyright (c) 2015-2020 CNRS INRIA |
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#include "pinocchio/bindings/python/algorithm/algorithms.hpp" |
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#include "pinocchio/algorithm/frames.hpp" |
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namespace pinocchio |
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{ |
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namespace python |
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{ |
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static Data::Matrix6x get_frame_jacobian_proxy(const Model & model, |
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Data & data, |
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const Model::FrameIndex frame_id, |
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ReferenceFrame rf) |
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{ |
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Data::Matrix6x J(6,model.nv); J.setZero(); |
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getFrameJacobian(model, data, frame_id, rf, J); |
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return J; |
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} |
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static Data::Matrix6x compute_frame_jacobian_proxy(const Model & model, |
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Data & data, |
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const Eigen::VectorXd & q, |
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Model::FrameIndex frame_id) |
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{ |
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Data::Matrix6x J(6,model.nv); J.setZero(); |
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computeFrameJacobian(model, data, q, frame_id, J); |
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return J; |
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} |
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static Data::Matrix6x compute_frame_jacobian_proxy(const Model & model, |
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Data & data, |
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const Eigen::VectorXd & q, |
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Model::FrameIndex frame_id, |
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ReferenceFrame reference_frame) |
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{ |
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✓✗✓✗
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Data::Matrix6x J(6,model.nv); J.setZero(); |
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✓✗ |
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computeFrameJacobian(model, data, q, frame_id, reference_frame, J); |
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return J; |
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} |
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static Data::Matrix6x get_frame_jacobian_time_variation_proxy(const Model & model, |
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Data & data, |
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Model::FrameIndex jointId, |
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ReferenceFrame rf) |
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{ |
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Data::Matrix6x dJ(6,model.nv); dJ.setZero(); |
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getFrameJacobianTimeVariation(model,data,jointId,rf,dJ); |
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return dJ; |
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} |
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static Data::Matrix6x frame_jacobian_time_variation_proxy(const Model & model, |
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Data & data, |
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const Eigen::VectorXd & q, |
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const Eigen::VectorXd & v, |
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const Model::FrameIndex frame_id, |
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const ReferenceFrame rf) |
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{ |
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computeJointJacobiansTimeVariation(model,data,q,v); |
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updateFramePlacements(model,data); |
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return get_frame_jacobian_time_variation_proxy(model, data, frame_id, rf); |
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} |
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BOOST_PYTHON_FUNCTION_OVERLOADS(getFrameVelocity_overload, (getFrameVelocity<double,0,JointCollectionDefaultTpl>), 3, 4) |
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BOOST_PYTHON_FUNCTION_OVERLOADS(getFrameAcceleration_overload, (getFrameAcceleration<double,0,JointCollectionDefaultTpl>), 3, 4) |
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BOOST_PYTHON_FUNCTION_OVERLOADS(getFrameClassicalAcceleration_overload, (getFrameClassicalAcceleration<double,0,JointCollectionDefaultTpl>), 3, 4) |
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void exposeFramesAlgo() |
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{ |
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using namespace Eigen; |
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✓✗ |
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bp::def("updateFramePlacements", |
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&updateFramePlacements<double,0,JointCollectionDefaultTpl>, |
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bp::args("model","data"), |
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"Computes the placements of all the operational frames according to the current joint placement stored in data" |
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"and puts the results in data."); |
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✓✗ |
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bp::def("updateFramePlacement", |
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&updateFramePlacement<double,0,JointCollectionDefaultTpl>, |
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✓✗ |
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bp::args("model","data","frame_id"), |
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"Computes the placement of the given operational frame (frame_id) according to the current joint placement stored in data, stores the results in data and returns it.", |
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bp::return_value_policy<bp::return_by_value>()); |
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✓✗ |
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bp::def("getFrameVelocity", |
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&getFrameVelocity<double,0,JointCollectionDefaultTpl>, |
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getFrameVelocity_overload( |
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bp::args("model","data","frame_id","reference_frame"), |
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"Returns the spatial velocity of the frame expressed in the coordinate system given by reference_frame.\n" |
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"forwardKinematics(model,data,q,v[,a]) should be called first to compute the joint spatial velocity stored in data.v")); |
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✓✗ |
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bp::def("getFrameAcceleration", |
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&getFrameAcceleration<double,0,JointCollectionDefaultTpl>, |
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✓✗ |
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getFrameAcceleration_overload( |
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bp::args("model","data","frame_id","reference_frame"), |
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"Returns the spatial acceleration of the frame expressed in the coordinate system given by reference_frame.\n" |
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"forwardKinematics(model,data,q,v,a) should be called first to compute the joint spatial acceleration stored in data.a .")); |
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✓✗ |
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bp::def("getFrameClassicalAcceleration", |
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&getFrameClassicalAcceleration<double,0,JointCollectionDefaultTpl>, |
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✓✗ |
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getFrameClassicalAcceleration_overload( |
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bp::args("model","data","frame_id","reference_frame"), |
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"Returns the \"classical\" acceleration of the frame expressed in the coordinate system given by reference_frame.\n" |
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"forwardKinematics(model,data,q,v,a) should be called first to compute the joint spatial acceleration stored in data.a .")); |
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✓✗ |
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bp::def("framesForwardKinematics", |
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&framesForwardKinematics<double,0,JointCollectionDefaultTpl,VectorXd>, |
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bp::args("model","data","q"), |
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"Calls first the forwardKinematics(model,data,q) and then update the Frame placement quantities (data.oMf)."); |
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✓✗ |
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bp::def("computeFrameJacobian", |
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(Data::Matrix6x (*)(const Model &, Data &, const Eigen::VectorXd &, Model::FrameIndex, ReferenceFrame))&compute_frame_jacobian_proxy, |
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bp::args("model","data","q","frame_id","reference_frame"), |
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"Computes the Jacobian of the frame given by its frame_id in the coordinate system given by reference_frame.\n"); |
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✓✗ |
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bp::def("computeFrameJacobian", |
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(Data::Matrix6x (*)(const Model &, Data &, const Eigen::VectorXd &, Model::FrameIndex))&compute_frame_jacobian_proxy, |
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bp::args("model","data","q","frame_id"), |
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"Computes the Jacobian of the frame given by its frame_id.\n" |
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"The columns of the Jacobian are expressed in the coordinates system of the Frame itself.\n" |
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"In other words, the velocity of the frame vF expressed in the local coordinate is given by J*v," |
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"where v is the joint velocity."); |
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✓✗ |
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bp::def("getFrameJacobian", |
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&get_frame_jacobian_proxy, |
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bp::args("model","data","frame_id","reference_frame"), |
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"Computes the Jacobian of the frame given by its ID either in the local or the world frames.\n" |
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"The columns of the Jacobian are expressed in the LOCAL frame coordinates system.\n" |
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"In other words, the velocity of the frame vF expressed in the local coordinate is given by J*v," |
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"where v is the joint velocity.\n" |
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"computeJointJacobians(model,data,q) and updateFramePlacements(model,data) must have been called first."); |
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✓✗ |
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bp::def("frameJacobianTimeVariation",&frame_jacobian_time_variation_proxy, |
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bp::args("model","data","q","v","frame_id","reference_frame"), |
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"Computes the Jacobian Time Variation of the frame given by its frame_id either in the reference frame provided by reference_frame.\n"); |
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✓✗ |
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bp::def("getFrameJacobianTimeVariation",get_frame_jacobian_time_variation_proxy, |
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bp::args("model","data","frame_id","reference_frame"), |
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"Returns the Jacobian time variation of the frame given by its frame_id either in the reference frame provided by reference_frame.\n" |
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"You have to call computeJointJacobiansTimeVariation(model,data,q,v) and updateFramePlacements(model,data) first."); |
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✓✗ |
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bp::def("computeSupportedInertiaByFrame", |
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&computeSupportedInertiaByFrame<double,0,JointCollectionDefaultTpl>, |
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bp::args("model", "data", "frame_id", "with_subtree"), |
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"Computes the supported inertia by the frame (given by frame_id) and returns it.\n" |
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"The supported inertia corresponds to the sum of the inertias of all the child frames (that belongs to the same joint body) and the child joints, if with_subtree=True.\n" |
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"You must first call pinocchio::forwardKinematics to update placement values in data structure."); |
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✓✗ |
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bp::def("computeSupportedForceByFrame", |
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&computeSupportedForceByFrame<double,0,JointCollectionDefaultTpl>, |
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bp::args("model","data","frame_id"), |
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"Computes the supported force of the frame (given by frame_id) and returns it.\n" |
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"The supported force corresponds to the sum of all the forces experienced after the given frame.\n" |
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"You must first call pinocchio::rnea to update placement values in data structure."); |
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} |
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} // namespace python |
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} // namespace pinocchio |