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// |
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// Copyright (c) 2015-2020 CNRS INRIA |
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// |
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#include "pinocchio/bindings/python/fwd.hpp" |
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#include "pinocchio/bindings/python/multibody/liegroups.hpp" |
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#include "pinocchio/bindings/python/utils/namespace.hpp" |
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#include <eigenpy/memory.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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namespace bp = boost::python; |
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template<typename LgType> |
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CartesianProductOperationVariantTpl<double,0,LieGroupCollectionDefaultTpl> |
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makeLieGroup() |
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{ |
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return CartesianProductOperationVariantTpl<double,0,LieGroupCollectionDefaultTpl> (LgType()); |
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} |
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CartesianProductOperationVariantTpl<double,0,LieGroupCollectionDefaultTpl> |
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makeRn(int n) |
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{ |
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return CartesianProductOperationVariantTpl<double,0,LieGroupCollectionDefaultTpl> ( |
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VectorSpaceOperationTpl<Eigen::Dynamic,double,0>(n)); |
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} |
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/* --- Expose --------------------------------------------------------- */ |
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void exposeLieGroups() |
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{ |
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LieGroupPythonVisitor< |
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CartesianProductOperationVariantTpl<double,0,LieGroupCollectionDefaultTpl> |
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>::expose("LieGroup"); |
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{ |
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// Switch the scope to the submodule, add methods and classes. |
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✓✗✓✗
✓✗ |
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bp::scope submoduleScope = getOrCreatePythonNamespace("liegroups"); |
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✓✗ |
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bp::def("R1", makeLieGroup<VectorSpaceOperationTpl<1,double,0> >); |
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✓✗ |
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bp::def("R2", makeLieGroup<VectorSpaceOperationTpl<2,double,0> >); |
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✓✗ |
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bp::def("R3", makeLieGroup<VectorSpaceOperationTpl<3,double,0> >); |
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✓✗ |
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bp::def("Rn", makeRn); |
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✓✗ |
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bp::def("SO2", makeLieGroup<SpecialOrthogonalOperationTpl<2,double,0> >); |
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✓✗ |
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bp::def("SO3", makeLieGroup<SpecialOrthogonalOperationTpl<3,double,0> >); |
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✓✗ |
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bp::def("SE2", makeLieGroup<SpecialEuclideanOperationTpl<2,double,0> >); |
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✓✗ |
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bp::def("SE3", makeLieGroup<SpecialEuclideanOperationTpl<3,double,0> >); |
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} |
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} |
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} // namespace python |
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} // namespace pinocchio |