Directory: | ./ |
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File: | bindings/python/algorithm/expose-frames-derivatives.cpp |
Date: | 2024-08-27 18:20:05 |
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Lines: | 10 | 34 | 29.4% |
Branches: | 4 | 72 | 5.6% |
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1 | // | ||
2 | // Copyright (c) 2020 INRIA | ||
3 | // | ||
4 | |||
5 | #include <boost/python/tuple.hpp> | ||
6 | |||
7 | #include "pinocchio/bindings/python/algorithm/algorithms.hpp" | ||
8 | #include "pinocchio/algorithm/frames-derivatives.hpp" | ||
9 | |||
10 | namespace pinocchio | ||
11 | { | ||
12 | namespace python | ||
13 | { | ||
14 | namespace bp = boost::python; | ||
15 | |||
16 | ✗ | bp::tuple getFrameVelocityDerivatives_proxy1( | |
17 | const context::Model & model, | ||
18 | context::Data & data, | ||
19 | const context::Model::FrameIndex frame_id, | ||
20 | ReferenceFrame rf) | ||
21 | { | ||
22 | typedef context::Data::Matrix6x Matrix6x; | ||
23 | |||
24 | ✗ | Matrix6x partial_dq(Matrix6x::Zero(6, model.nv)); | |
25 | ✗ | Matrix6x partial_dv(Matrix6x::Zero(6, model.nv)); | |
26 | |||
27 | ✗ | getFrameVelocityDerivatives(model, data, frame_id, rf, partial_dq, partial_dv); | |
28 | |||
29 | ✗ | return bp::make_tuple(partial_dq, partial_dv); | |
30 | } | ||
31 | |||
32 | ✗ | bp::tuple getFrameVelocityDerivatives_proxy2( | |
33 | const context::Model & model, | ||
34 | context::Data & data, | ||
35 | const context::Model::JointIndex joint_id, | ||
36 | const context::SE3 & placement, | ||
37 | ReferenceFrame rf) | ||
38 | { | ||
39 | typedef context::Data::Matrix6x Matrix6x; | ||
40 | |||
41 | ✗ | Matrix6x partial_dq(Matrix6x::Zero(6, model.nv)); | |
42 | ✗ | Matrix6x partial_dv(Matrix6x::Zero(6, model.nv)); | |
43 | |||
44 | ✗ | getFrameVelocityDerivatives(model, data, joint_id, placement, rf, partial_dq, partial_dv); | |
45 | |||
46 | ✗ | return bp::make_tuple(partial_dq, partial_dv); | |
47 | } | ||
48 | |||
49 | ✗ | bp::tuple getFrameAccelerationDerivatives_proxy1( | |
50 | const context::Model & model, | ||
51 | context::Data & data, | ||
52 | const context::Model::FrameIndex frame_id, | ||
53 | ReferenceFrame rf) | ||
54 | { | ||
55 | typedef context::Data::Matrix6x Matrix6x; | ||
56 | |||
57 | ✗ | Matrix6x v_partial_dq(Matrix6x::Zero(6, model.nv)); | |
58 | ✗ | Matrix6x a_partial_dq(Matrix6x::Zero(6, model.nv)); | |
59 | ✗ | Matrix6x a_partial_dv(Matrix6x::Zero(6, model.nv)); | |
60 | ✗ | Matrix6x a_partial_da(Matrix6x::Zero(6, model.nv)); | |
61 | |||
62 | ✗ | getFrameAccelerationDerivatives( | |
63 | model, data, frame_id, rf, v_partial_dq, a_partial_dq, a_partial_dv, a_partial_da); | ||
64 | |||
65 | ✗ | return bp::make_tuple(v_partial_dq, a_partial_dq, a_partial_dv, a_partial_da); | |
66 | } | ||
67 | |||
68 | ✗ | bp::tuple getFrameAccelerationDerivatives_proxy2( | |
69 | const context::Model & model, | ||
70 | context::Data & data, | ||
71 | const context::Model::JointIndex joint_id, | ||
72 | const context::SE3 & placement, | ||
73 | ReferenceFrame rf) | ||
74 | { | ||
75 | typedef context::Data::Matrix6x Matrix6x; | ||
76 | |||
77 | ✗ | Matrix6x v_partial_dq(Matrix6x::Zero(6, model.nv)); | |
78 | ✗ | Matrix6x a_partial_dq(Matrix6x::Zero(6, model.nv)); | |
79 | ✗ | Matrix6x a_partial_dv(Matrix6x::Zero(6, model.nv)); | |
80 | ✗ | Matrix6x a_partial_da(Matrix6x::Zero(6, model.nv)); | |
81 | |||
82 | ✗ | getFrameAccelerationDerivatives( | |
83 | model, data, joint_id, placement, rf, v_partial_dq, a_partial_dq, a_partial_dv, | ||
84 | a_partial_da); | ||
85 | |||
86 | ✗ | return bp::make_tuple(v_partial_dq, a_partial_dq, a_partial_dv, a_partial_da); | |
87 | } | ||
88 | |||
89 | 20 | void exposeFramesDerivatives() | |
90 | { | ||
91 | using namespace Eigen; | ||
92 | |||
93 |
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20 | bp::def( |
94 | "getFrameVelocityDerivatives", getFrameVelocityDerivatives_proxy1, | ||
95 | 40 | bp::args("model", "data", "frame_id", "reference_frame"), | |
96 | "Computes the partial derivatives of the spatial velocity of a given frame with respect " | ||
97 | "to\n" | ||
98 | "the joint configuration and velocity and returns them as a tuple.\n" | ||
99 | "The partial derivatives can be either expressed in the LOCAL frame of the joint, in the " | ||
100 | "LOCAL_WORLD_ALIGNED frame or in the WORLD coordinate frame depending on the value of " | ||
101 | "reference_frame.\n" | ||
102 | "You must first call computeForwardKinematicsDerivatives before calling this function.\n\n" | ||
103 | "Parameters:\n" | ||
104 | "\tmodel: model of the kinematic tree\n" | ||
105 | "\tdata: data related to the model\n" | ||
106 | "\tframe_id: index of the frame\n" | ||
107 | "\treference_frame: reference frame in which the resulting derivatives are expressed\n"); | ||
108 | |||
109 |
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20 | bp::def( |
110 | "getFrameVelocityDerivatives", getFrameVelocityDerivatives_proxy2, | ||
111 | 40 | bp::args("model", "data", "joint_id", "placement", "reference_frame"), | |
112 | "Computes the partial derivatives of the spatial velocity of a frame given by its relative " | ||
113 | "placement, with respect to\n" | ||
114 | "the joint configuration and velocity and returns them as a tuple.\n" | ||
115 | "The partial derivatives can be either expressed in the LOCAL frame of the joint, in the " | ||
116 | "LOCAL_WORLD_ALIGNED frame or in the WORLD coordinate frame depending on the value of " | ||
117 | "reference_frame.\n" | ||
118 | "You must first call computeForwardKinematicsDerivatives before calling this function.\n\n" | ||
119 | "Parameters:\n" | ||
120 | "\tmodel: model of the kinematic tree\n" | ||
121 | "\tdata: data related to the model\n" | ||
122 | "\tjoint_id: index of the joint\n" | ||
123 | "\tplacement: placement of the Frame w.r.t. the joint frame.\n" | ||
124 | "\treference_frame: reference frame in which the resulting derivatives are expressed\n"); | ||
125 | |||
126 |
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20 | bp::def( |
127 | "getFrameAccelerationDerivatives", getFrameAccelerationDerivatives_proxy1, | ||
128 | 40 | bp::args("model", "data", "frame_id", "reference_frame"), | |
129 | "Computes the partial derivatives of the spatial acceleration of a given frame with " | ||
130 | "respect to\n" | ||
131 | "the joint configuration, velocity and acceleration and returns them as a tuple.\n" | ||
132 | "The partial derivatives can be either expressed in the LOCAL frame of the joint, in the " | ||
133 | "LOCAL_WORLD_ALIGNED frame or in the WORLD coordinate frame depending on the value of " | ||
134 | "reference_frame.\n" | ||
135 | "You must first call computeForwardKinematicsDerivatives before calling this function.\n\n" | ||
136 | "Parameters:\n" | ||
137 | "\tmodel: model of the kinematic tree\n" | ||
138 | "\tdata: data related to the model\n" | ||
139 | "\tframe_id: index of the frame\n" | ||
140 | "\treference_frame: reference frame in which the resulting derivatives are expressed\n"); | ||
141 | |||
142 |
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20 | bp::def( |
143 | "getFrameAccelerationDerivatives", getFrameAccelerationDerivatives_proxy2, | ||
144 | 40 | bp::args("model", "data", "joint_id", "placement", "reference_frame"), | |
145 | "Computes the partial derivatives of the spatial acceleration of a frame given by its " | ||
146 | "relative placement, with respect to\n" | ||
147 | "the joint configuration, velocity and acceleration and returns them as a tuple.\n" | ||
148 | "The partial derivatives can be either expressed in the LOCAL frame of the joint, in the " | ||
149 | "LOCAL_WORLD_ALIGNED frame or in the WORLD coordinate frame depending on the value of " | ||
150 | "reference_frame.\n" | ||
151 | "You must first call computeForwardKinematicsDerivatives before calling this function.\n\n" | ||
152 | "Parameters:\n" | ||
153 | "\tmodel: model of the kinematic tree\n" | ||
154 | "\tdata: data related to the model\n" | ||
155 | "\tjoint_id: index of the joint\n" | ||
156 | "\tplacement: placement of the Frame w.r.t. the joint frame.\n" | ||
157 | "\treference_frame: reference frame in which the resulting derivatives are expressed\n"); | ||
158 | 20 | } | |
159 | |||
160 | } // namespace python | ||
161 | } // namespace pinocchio | ||
162 |