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// Copyright (c) 2015-2021 CNRS INRIA |
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// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France. |
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// |
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#include "pinocchio/bindings/python/fwd.hpp" |
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#include "pinocchio/multibody/fwd.hpp" |
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#include "pinocchio/utils/version.hpp" |
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#include "pinocchio/bindings/python/utils/version.hpp" |
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#include "pinocchio/bindings/python/utils/dependencies.hpp" |
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#include "pinocchio/bindings/python/utils/conversions.hpp" |
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#include "pinocchio/bindings/python/utils/registration.hpp" |
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#include "pinocchio/bindings/python/utils/std-vector.hpp" |
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#include "pinocchio/bindings/python/serialization/serialization.hpp" |
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#include <eigenpy/eigenpy.hpp> |
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#include <Eigen/Geometry> |
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#include <eigenpy/geometry.hpp> |
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namespace bp = boost::python; |
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using namespace pinocchio::python; |
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✓✗✓✗
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BOOST_PYTHON_MODULE(pinocchio_pywrap) |
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{ |
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bp::docstring_options module_docstring_options(true,true,false); |
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bp::scope().attr("__version__") = pinocchio::printVersion(); |
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bp::scope().attr("__raw_version__") = bp::str(PINOCCHIO_VERSION); |
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eigenpy::enableEigenPy(); |
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// Enable warnings |
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bp::import("warnings"); |
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if(! register_symbolic_link_to_registered_type<Eigen::Quaterniond>()) |
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eigenpy::exposeQuaternion(); |
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if(! register_symbolic_link_to_registered_type<Eigen::AngleAxisd>()) |
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eigenpy::exposeAngleAxis(); |
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StdContainerFromPythonList< std::vector<std::string> >::register_converter(); |
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typedef Eigen::Matrix<double,6,6> Matrix6d; |
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typedef Eigen::Matrix<double,6,1> Vector6d; |
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typedef Eigen::Matrix<double,6,Eigen::Dynamic> Matrix6x; |
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typedef Eigen::Matrix<double,3,Eigen::Dynamic> Matrix3x; |
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eigenpy::enableEigenPySpecific<Matrix6d>(); |
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eigenpy::enableEigenPySpecific<Vector6d>(); |
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eigenpy::enableEigenPySpecific<Matrix6x>(); |
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eigenpy::enableEigenPySpecific<Matrix3x>(); |
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exposeSE3(); |
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exposeForce(); |
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exposeMotion(); |
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exposeInertia(); |
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exposeJoints(); |
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exposeExplog(); |
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exposeRpy(); |
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exposeSkew(); |
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exposeLieGroups(); |
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bp::enum_< ::pinocchio::ReferenceFrame >("ReferenceFrame") |
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.value("WORLD",::pinocchio::WORLD) |
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.value("LOCAL",::pinocchio::LOCAL) |
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.value("LOCAL_WORLD_ALIGNED",::pinocchio::LOCAL_WORLD_ALIGNED) |
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.export_values() |
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; |
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bp::enum_< ::pinocchio::KinematicLevel >("KinematicLevel") |
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.value("POSITION",::pinocchio::POSITION) |
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.value("VELOCITY",::pinocchio::VELOCITY) |
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.value("ACCELERATION",::pinocchio::ACCELERATION) |
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.export_values() |
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; |
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bp::enum_< ::pinocchio::ArgumentPosition>("ArgumentPosition") |
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.value("ARG0",::pinocchio::ARG0) |
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.value("ARG1",::pinocchio::ARG1) |
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.value("ARG2",::pinocchio::ARG2) |
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.value("ARG3",::pinocchio::ARG3) |
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.value("ARG4",::pinocchio::ARG4) |
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.export_values() |
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; |
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exposeModel(); |
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exposeFrame(); |
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exposeData(); |
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exposeGeometry(); |
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exposeAlgorithms(); |
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exposeParsers(); |
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exposeSerialization(); |
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#ifdef PINOCCHIO_PYTHON_INTERFACE_WITH_HPP_FCL_PYTHON_BINDINGS |
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exposeFCL(); |
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#endif // PINOCCHIO_PYTHON_INTERFACE_WITH_HPP_FCL_PYTHON_BINDINGS |
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#ifdef PINOCCHIO_PYTHON_INTERFACE_WITH_OPENMP |
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exposePool(); |
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exposeParallelAlgorithms(); |
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#endif |
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exposeVersion(); |
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exposeDependencies(); |
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exposeConversions(); |
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} |
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