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// Copyright (c) 2018-2020 CNRS INRIA |
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// |
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#include "pinocchio/bindings/python/algorithm/algorithms.hpp" |
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#include "pinocchio/algorithm/regressor.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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Eigen::MatrixXd bodyRegressor_proxy(const Motion & v, const Motion & a) |
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{ |
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return bodyRegressor(v,a); |
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} |
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Eigen::MatrixXd jointBodyRegressor_proxy(const Model & model, Data & data, const JointIndex jointId) |
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{ |
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return jointBodyRegressor(model,data,jointId); |
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} |
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Eigen::MatrixXd frameBodyRegressor_proxy(const Model & model, Data & data, const FrameIndex frameId) |
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{ |
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return frameBodyRegressor(model,data,frameId); |
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} |
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void exposeRegressor() |
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{ |
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using namespace Eigen; |
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✓✗ |
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bp::def("computeStaticRegressor", |
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&computeStaticRegressor<double,0,JointCollectionDefaultTpl,VectorXd>, |
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✓✗ |
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bp::args("model","data","q"), |
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"Compute the static regressor that links the inertia parameters of the system to its center of mass position,\n" |
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"store the result in Data and return it.\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("bodyRegressor", |
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&bodyRegressor_proxy, |
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bp::args("velocity","acceleration"), |
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"Computes the regressor for the dynamic parameters of a single rigid body.\n" |
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"The result is such that " |
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"Ia + v x Iv = bodyRegressor(v,a) * I.toDynamicParameters()\n\n" |
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"Parameters:\n" |
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"\tvelocity: spatial velocity of the rigid body\n" |
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"\tacceleration: spatial acceleration of the rigid body\n"); |
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✓✗ |
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bp::def("jointBodyRegressor", |
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&jointBodyRegressor_proxy, |
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bp::args("model","data","joint_id"), |
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"Compute the regressor for the dynamic parameters of a rigid body attached to a given joint.\n" |
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"This algorithm assumes RNEA has been run to compute the acceleration and gravitational effects.\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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✓✗ |
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bp::def("frameBodyRegressor", |
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&frameBodyRegressor_proxy, |
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bp::args("model","data","frame_id"), |
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"Computes the regressor for the dynamic parameters of a rigid body attached to a given frame.\n" |
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"This algorithm assumes RNEA has been run to compute the acceleration and gravitational effects.\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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"\tframe_id: index of the frame\n"); |
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✓✗ |
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bp::def("computeJointTorqueRegressor", |
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&computeJointTorqueRegressor<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd,VectorXd>, |
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✓✗ |
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bp::args("model","data","q","v","a"), |
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"Compute the joint torque regressor that links the joint torque " |
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"to the dynamic parameters of each link according to the current the robot motion,\n" |
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"store the result in Data and return it.\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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"\ta: the joint acceleration 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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} // namespace python |
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} // namespace pinocchio |