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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/jacobian.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 |
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compute_jacobian_proxy(const Model & model, |
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Data & data, |
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const Eigen::VectorXd & q, |
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Model::JointIndex jointId) |
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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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computeJointJacobian(model,data,q,jointId,J); |
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return J; |
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} |
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static Data::Matrix6x |
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get_jacobian_proxy(const Model & model, |
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Data & data, |
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Model::JointIndex jointId, |
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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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getJointJacobian(model,data,jointId,rf,J); |
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return J; |
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} |
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static Data::Matrix6x |
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get_jacobian_time_variation_proxy(const Model & model, |
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Data & data, |
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Model::JointIndex 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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getJointJacobianTimeVariation(model,data,jointId,rf,dJ); |
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return dJ; |
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} |
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void exposeJacobian() |
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using namespace Eigen; |
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✓✗ |
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bp::def("computeJointJacobians", |
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&computeJointJacobians<double,0,JointCollectionDefaultTpl,VectorXd>, |
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bp::args("model","data","q"), |
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"Computes the full model Jacobian, i.e. the stack of all the motion subspaces expressed in the coordinate world frame.\n" |
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"The result is accessible through data.J. This function computes also the forward kinematics of the model.\n\n" |
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"Parameters:\n" |
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"\tmodel: model of the kinematic tree\n" |
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"\tdata: data related to the model\n" |
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"\tq: the joint configuration vector (size model.nq)\n", |
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bp::return_value_policy<bp::return_by_value>()); |
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✓✗ |
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bp::def("computeJointJacobians", |
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&computeJointJacobians<double,0,JointCollectionDefaultTpl>, |
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✓✗ |
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bp::args("model","data"), |
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"Computes the full model Jacobian, i.e. the stack of all motion subspace expressed in the world frame.\n" |
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"The result is accessible through data.J. This function assumes that forward kinematics (pinocchio.forwardKinematics) has been called first.\n\n" |
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"Parameters:\n" |
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"\tmodel: model of the kinematic tree\n" |
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"\tdata: data related to the model\n", |
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bp::return_value_policy<bp::return_by_value>()); |
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✓✗ |
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bp::def("computeJointJacobian",compute_jacobian_proxy, |
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bp::args("model","data","q","joint_id"), |
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"Computes the Jacobian of a specific joint frame expressed in the local frame of the joint according to the given input configuration.\n\n" |
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"Parameters:\n" |
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"\tmodel: model of the kinematic tree\n" |
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"\tdata: data related to the model\n" |
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"\tq: the joint configuration vector (size model.nq)\n" |
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"\tjoint_id: index of the joint\n"); |
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✓✗ |
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bp::def("getJointJacobian",get_jacobian_proxy, |
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bp::args("model","data","joint_id","reference_frame"), |
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"Computes the jacobian of a given given joint according to the given entries in data.\n" |
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"If reference_frame is set to LOCAL, it returns the Jacobian expressed in the local coordinate system of the joint.\n" |
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"If reference_frame is set to LOCAL_WORLD_ALIGNED, it returns the Jacobian expressed in the coordinate system of the frame centered on the joint, but aligned with the WORLD axes.\n" |
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"If reference_frame is set to WORLD, it returns the Jacobian expressed in the coordinate system of the frame associated to the WORLD.\n\n" |
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"Parameters:\n" |
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"\tmodel: model of the kinematic tree\n" |
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"\tdata: data related to the model\n" |
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"\tjoint_id: index of the joint\n" |
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"\treference_frame: reference frame in which the resulting derivatives are expressed\n"); |
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✓✗ |
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bp::def("computeJointJacobiansTimeVariation",computeJointJacobiansTimeVariation<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd>, |
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✓✗ |
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bp::args("model","data","q","v"), |
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"Computes the full model Jacobian variations with respect to time. It corresponds to dJ/dt which depends both on q and v. It also computes the joint Jacobian of the model (similar to computeJointJacobians)." |
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"The result is accessible through data.dJ and data.J.\n\n" |
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"Parameters:\n" |
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"\tmodel: model of the kinematic tree\n" |
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"\tdata: data related to the model\n" |
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"\tq: the joint configuration vector (size model.nq)\n" |
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"\tv: the joint velocity vector (size model.nv)\n", |
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bp::return_value_policy<bp::return_by_value>()); |
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✓✗ |
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bp::def("getJointJacobianTimeVariation",get_jacobian_time_variation_proxy, |
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bp::args("model","data","joint_id","reference_frame"), |
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"Computes the Jacobian time variation of a specific joint expressed in the requested frame provided by the value of reference_frame." |
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"You have to call computeJointJacobiansTimeVariation first. This function also computes the full model Jacobian contained in data.J.\n" |
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"If reference_frame is set to LOCAL, it returns the Jacobian expressed in the local coordinate system of the joint.\n" |
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"If reference_frame is set to LOCAL_WORLD_ALIGNED, it returns the Jacobian expressed in the coordinate system of the frame centered on the joint, but aligned with the WORLD axes.\n" |
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"If reference_frame is set to WORLD, it returns the Jacobian expressed in the coordinate system of the frame associated to the WORLD.\n\n" |
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"Parameters:\n" |
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"\tmodel: model of the kinematic tree\n" |
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"\tdata: data related to the model\n" |
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"\tjoint_id: index of the joint\n" |
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"\treference_frame: reference frame in which the resulting derivatives are expressed\n"); |
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} |
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} // namespace python |
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} // namespace pinocchio |