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// |
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// Copyright (c) 2015-2019 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/bindings/python/spatial/explog.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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void exposeExplog() |
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{ |
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✓✗ |
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bp::def("exp3",&exp3_proxy<Eigen::Vector3d>, |
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bp::arg("v"), |
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"Exp: so3 -> SO3. Return the integral of the input" |
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" angular velocity during time 1."); |
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✓✗ |
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bp::def("Jexp3",&Jexp3_proxy<Eigen::Vector3d>, |
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bp::arg("v"), |
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"Jacobian of exp(R) which maps from the tangent of SO(3) at exp(v) to" |
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" the tangent of SO(3) at Identity."); |
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✓✗ |
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bp::def("log3",&log3_proxy<Eigen::Matrix3d>, |
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bp::arg("R"), |
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"Log: SO3 -> so3. Pseudo-inverse of log from SO3" |
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" -> { v in so3, ||v|| < 2pi }.Exp: so3 -> SO3."); |
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✓✗ |
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bp::def("Jlog3",&Jlog3_proxy<Eigen::Matrix3d>, |
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bp::arg("R"), |
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"Jacobian of log(R) which maps from the tangent of SO(3) at R to" |
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" the tangent of SO(3) at Identity."); |
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✓✗ |
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bp::def("Hlog3",&Hlog3_proxy<Eigen::Matrix3d, Eigen::Vector3d>, |
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bp::args("R","v"), |
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"Vector v to be multiplied to the hessian", |
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"v^T * H where H is the Hessian of log(R)"); |
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✓✗ |
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bp::def("exp6",&exp6_proxy<double,0>, |
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bp::arg("v"), |
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"Exp: se3 -> SE3. Return the integral of the input" |
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" spatial velocity during time 1."); |
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✓✗ |
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bp::def("exp6",&exp6_proxy<Motion::Vector6>, |
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bp::arg("v"), |
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"Exp: se3 -> SE3. Return the integral of the input" |
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" spatial velocity during time 1."); |
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✓✗ |
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bp::def("Jexp6",&Jexp6_proxy<double,0>, |
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bp::arg("v"), |
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"Jacobian of exp(v) which maps from the tangent of SE(3) at exp(v) to" |
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" the tangent of SE(3) at Identity."); |
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✓✗ |
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bp::def("Jexp6",&Jexp6_proxy<Motion::Vector6>, |
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bp::arg("v"), |
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"Jacobian of exp(v) which maps from the tangent of SE(3) at exp(v) to" |
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" the tangent of SE(3) at Identity."); |
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✓✗ |
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bp::def("log6",(Motion (*)(const SE3 &))&log6<double,0>, |
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bp::arg("M"), |
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"Log: SE3 -> se3. Pseudo-inverse of exp from SE3" |
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" -> { v,w in se3, ||w|| < 2pi }."); |
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✓✗ |
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bp::def("log6",&log6_proxy<Eigen::Matrix4d>, |
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bp::arg("H"), |
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"Log: SE3 -> se3. Pseudo-inverse of exp from SE3" |
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" -> { v,w in se3, ||w|| < 2pi }."); |
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✓✗ |
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bp::def("Jlog6",&Jlog6_proxy<double,0>, |
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bp::arg("M"), |
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"Jacobian of log(M) which maps from the tangent of SE(3) at M to" |
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" the tangent of SE(3) at Identity."); |
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} |
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} // namespace python |
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} // namespace pinocchio |