Directory: | ./ |
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File: | bindings/python/algorithm/expose-kinematic-regressor.cpp |
Date: | 2024-08-27 18:20:05 |
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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 |