| Directory: | ./ |
|---|---|
| File: | bindings/python/algorithm/expose-kinematic-regressor.cpp |
| Date: | 2024-08-27 18:20:05 |
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| Lines: | 8 | 8 | 100.0% |
| Branches: | 3 | 6 | 50.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2020 INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #include "pinocchio/bindings/python/algorithm/algorithms.hpp" | ||
| 6 | #include "pinocchio/algorithm/regressor.hpp" | ||
| 7 | |||
| 8 | namespace pinocchio | ||
| 9 | { | ||
| 10 | namespace python | ||
| 11 | { | ||
| 12 | |||
| 13 | 20 | void exposeKinematicRegressor() | |
| 14 | { | ||
| 15 | typedef context::Scalar Scalar; | ||
| 16 | enum | ||
| 17 | { | ||
| 18 | Options = context::Options | ||
| 19 | }; | ||
| 20 | |||
| 21 |
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20 | bp::def( |
| 22 | "computeJointKinematicRegressor", | ||
| 23 | (context::Data::Matrix6x(*)( | ||
| 24 | const context::Model &, const context::Data &, const JointIndex, const ReferenceFrame, | ||
| 25 | const context::SE3 &)) | ||
| 26 | & computeJointKinematicRegressor<Scalar, Options, JointCollectionDefaultTpl>, | ||
| 27 | 40 | bp::args("model", "data", "joint_id", "reference_frame", "placement"), | |
| 28 | "Computes the kinematic regressor that links the joint placements variations of the whole " | ||
| 29 | "kinematic tree to the placement variation of the frame rigidly attached to the joint and " | ||
| 30 | "given by its placement w.r.t. to the joint frame.\n\n" | ||
| 31 | "Parameters:\n" | ||
| 32 | "\tmodel: model of the kinematic tree\n" | ||
| 33 | "\tdata: data related to the model\n" | ||
| 34 | "\tjoint_id: index of the joint\n" | ||
| 35 | "\treference_frame: reference frame in which the result is expressed (LOCAL, " | ||
| 36 | "LOCAL_WORLD_ALIGNED or WORLD)\n" | ||
| 37 | "\tplacement: relative placement to the joint frame\n"); | ||
| 38 | |||
| 39 |
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20 | bp::def( |
| 40 | "computeJointKinematicRegressor", | ||
| 41 | (context::Data::Matrix6x(*)( | ||
| 42 | const context::Model &, const context::Data &, const JointIndex, const ReferenceFrame)) | ||
| 43 | & computeJointKinematicRegressor<Scalar, Options, JointCollectionDefaultTpl>, | ||
| 44 | 40 | bp::args("model", "data", "joint_id", "reference_frame"), | |
| 45 | "Computes the kinematic regressor that links the joint placement variations of the " | ||
| 46 | "whole kinematic tree to the placement variation of the joint given as input.\n\n" | ||
| 47 | "Parameters:\n" | ||
| 48 | "\tmodel: model of the kinematic tree\n" | ||
| 49 | "\tdata: data related to the model\n" | ||
| 50 | "\tjoint_id: index of the joint\n" | ||
| 51 | "\treference_frame: reference frame in which the result is expressed (LOCAL, " | ||
| 52 | "LOCAL_WORLD_ALIGNED or WORLD)\n"); | ||
| 53 | |||
| 54 |
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20 | bp::def( |
| 55 | "computeFrameKinematicRegressor", | ||
| 56 | (context::Data::Matrix6x(*)( | ||
| 57 | const context::Model &, context::Data &, const FrameIndex, const ReferenceFrame)) | ||
| 58 | & computeFrameKinematicRegressor<Scalar, Options, JointCollectionDefaultTpl>, | ||
| 59 | 40 | bp::args("model", "data", "frame_id", "reference_frame"), | |
| 60 | "Computes the kinematic regressor that links the joint placement variations of the " | ||
| 61 | "whole kinematic tree to the placement variation of the frame given as input.\n\n" | ||
| 62 | "Parameters:\n" | ||
| 63 | "\tmodel: model of the kinematic tree\n" | ||
| 64 | "\tdata: data related to the model\n" | ||
| 65 | "\tframe_id: index of the frame\n" | ||
| 66 | "\treference_frame: reference frame in which the result is expressed (LOCAL, " | ||
| 67 | "LOCAL_WORLD_ALIGNED or WORLD)\n"); | ||
| 68 | 20 | } | |
| 69 | |||
| 70 | } // namespace python | ||
| 71 | } // namespace pinocchio | ||
| 72 |