Directory: | ./ |
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File: | bindings/python/algorithm/expose-kinematics-derivatives.cpp |
Date: | 2024-08-27 18:20:05 |
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Branches: | 22 | 80 | 27.5% |
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1 | // | ||
2 | // Copyright (c) 2018-2021 CNRS INRIA | ||
3 | // | ||
4 | |||
5 | #include "pinocchio/bindings/python/algorithm/algorithms.hpp" | ||
6 | #include "pinocchio/algorithm/kinematics-derivatives.hpp" | ||
7 | #include "pinocchio/algorithm/center-of-mass-derivatives.hpp" | ||
8 | |||
9 | #include <boost/python/tuple.hpp> | ||
10 | |||
11 | namespace pinocchio | ||
12 | { | ||
13 | namespace python | ||
14 | { | ||
15 | namespace bp = boost::python; | ||
16 | |||
17 | 2 | bp::tuple getJointVelocityDerivatives_proxy( | |
18 | const context::Model & model, | ||
19 | context::Data & data, | ||
20 | const JointIndex jointId, | ||
21 | ReferenceFrame rf) | ||
22 | { | ||
23 | typedef context::Data::Matrix6x Matrix6x; | ||
24 | |||
25 |
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2 | Matrix6x partial_dq(Matrix6x::Zero(6, model.nv)); |
26 |
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2 | Matrix6x partial_dv(Matrix6x::Zero(6, model.nv)); |
27 | |||
28 |
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2 | getJointVelocityDerivatives(model, data, jointId, rf, partial_dq, partial_dv); |
29 | |||
30 |
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4 | return bp::make_tuple(partial_dq, partial_dv); |
31 | 2 | } | |
32 | |||
33 | ✗ | bp::tuple getPointVelocityDerivatives_proxy( | |
34 | const context::Model & model, | ||
35 | context::Data & data, | ||
36 | const JointIndex joint_id, | ||
37 | const context::SE3 & placement, | ||
38 | ReferenceFrame rf) | ||
39 | { | ||
40 | typedef context::Data::Matrix3x Matrix3x; | ||
41 | |||
42 | ✗ | Matrix3x v_partial_dq(Matrix3x::Zero(3, model.nv)); | |
43 | ✗ | Matrix3x v_partial_dv(Matrix3x::Zero(3, model.nv)); | |
44 | |||
45 | ✗ | getPointVelocityDerivatives(model, data, joint_id, placement, rf, v_partial_dq, v_partial_dv); | |
46 | |||
47 | ✗ | return bp::make_tuple(v_partial_dq, v_partial_dv); | |
48 | } | ||
49 | |||
50 | 2 | bp::tuple getJointAccelerationDerivatives_proxy( | |
51 | const context::Model & model, | ||
52 | context::Data & data, | ||
53 | const JointIndex jointId, | ||
54 | ReferenceFrame rf) | ||
55 | { | ||
56 | typedef context::Data::Matrix6x Matrix6x; | ||
57 | |||
58 |
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2 | Matrix6x v_partial_dq(Matrix6x::Zero(6, model.nv)); |
59 |
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2 | Matrix6x a_partial_dq(Matrix6x::Zero(6, model.nv)); |
60 |
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2 | Matrix6x a_partial_dv(Matrix6x::Zero(6, model.nv)); |
61 |
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2 | Matrix6x a_partial_da(Matrix6x::Zero(6, model.nv)); |
62 | |||
63 |
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2 | getJointAccelerationDerivatives( |
64 | model, data, jointId, rf, v_partial_dq, a_partial_dq, a_partial_dv, a_partial_da); | ||
65 | |||
66 |
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4 | return bp::make_tuple(v_partial_dq, a_partial_dq, a_partial_dv, a_partial_da); |
67 | 2 | } | |
68 | |||
69 | ✗ | bp::tuple getPointClassicAccelerationDerivatives_proxy( | |
70 | const context::Model & model, | ||
71 | context::Data & data, | ||
72 | const JointIndex joint_id, | ||
73 | const context::SE3 & placement, | ||
74 | ReferenceFrame rf) | ||
75 | { | ||
76 | typedef context::Data::Matrix3x Matrix3x; | ||
77 | |||
78 | ✗ | Matrix3x v_partial_dq(Matrix3x::Zero(3, model.nv)); | |
79 | ✗ | Matrix3x a_partial_dq(Matrix3x::Zero(3, model.nv)); | |
80 | ✗ | Matrix3x a_partial_dv(Matrix3x::Zero(3, model.nv)); | |
81 | ✗ | Matrix3x a_partial_da(Matrix3x::Zero(3, model.nv)); | |
82 | |||
83 | ✗ | getPointClassicAccelerationDerivatives( | |
84 | model, data, joint_id, placement, rf, v_partial_dq, a_partial_dq, a_partial_dv, | ||
85 | a_partial_da); | ||
86 | |||
87 | ✗ | return bp::make_tuple(v_partial_dq, a_partial_dq, a_partial_dv, a_partial_da); | |
88 | } | ||
89 | |||
90 | context::Data::Matrix3x | ||
91 | ✗ | getCoMVelocityDerivatives_proxy(const context::Model & model, context::Data & data) | |
92 | { | ||
93 | typedef context::Data::Matrix3x Matrix3x; | ||
94 | ✗ | Matrix3x partial_dq(Matrix3x::Zero(3, model.nv)); | |
95 | ✗ | getCenterOfMassVelocityDerivatives(model, data, partial_dq); | |
96 | ✗ | return partial_dq; | |
97 | } | ||
98 | |||
99 | 20 | void exposeKinematicsDerivatives() | |
100 | { | ||
101 | typedef context::Scalar Scalar; | ||
102 | typedef context::VectorXs VectorXs; | ||
103 | enum | ||
104 | { | ||
105 | Options = context::Options | ||
106 | }; | ||
107 | |||
108 |
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20 | bp::def( |
109 | "computeForwardKinematicsDerivatives", | ||
110 | &computeForwardKinematicsDerivatives< | ||
111 | Scalar, Options, JointCollectionDefaultTpl, VectorXs, VectorXs, VectorXs>, | ||
112 | 40 | bp::args("model", "data", "q", "v", "a"), | |
113 | "Computes all the terms required to compute the derivatives of the placement, " | ||
114 | "spatial velocity and acceleration\n" | ||
115 | "for any joint of the model.\n" | ||
116 | "The results are stored in data.\n\n" | ||
117 | "Parameters:\n" | ||
118 | "\tmodel: model of the kinematic tree\n" | ||
119 | "\tdata: data related to the model\n" | ||
120 | "\tq: the joint configuration vector (size model.nq)\n" | ||
121 | "\tv: the joint velocity vector (size model.nv)\n" | ||
122 | "\ta: the joint acceleration vector (size model.nv)\n"); | ||
123 | |||
124 |
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20 | bp::def( |
125 | "getJointVelocityDerivatives", getJointVelocityDerivatives_proxy, | ||
126 | 40 | bp::args("model", "data", "joint_id", "reference_frame"), | |
127 | "Computes the partial derivatives of the spatial velocity of a given joint with respect " | ||
128 | "to\n" | ||
129 | "the joint configuration and velocity and returns them as a tuple.\n" | ||
130 | "The partial derivatives can be either expressed in the LOCAL frame of the joint, in the " | ||
131 | "LOCAL_WORLD_ALIGNED frame or in the WORLD coordinate frame depending on the value of " | ||
132 | "reference_frame.\n" | ||
133 | "You must first call computeForwardKinematicsDerivatives before calling this function.\n\n" | ||
134 | "Parameters:\n" | ||
135 | "\tmodel: model of the kinematic tree\n" | ||
136 | "\tdata: data related to the model\n" | ||
137 | "\tjoint_id: index of the joint\n" | ||
138 | "\treference_frame: reference frame in which the resulting derivatives are expressed\n"); | ||
139 | |||
140 |
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20 | bp::def( |
141 | "getPointVelocityDerivatives", getPointVelocityDerivatives_proxy, | ||
142 | 40 | bp::args("model", "data", "joint_id", "placement", "reference_frame"), | |
143 | "Computes the partial derivatives of the velocity of a point given by its placement " | ||
144 | "information w.r.t. the joint frame and returns them as a tuple.\n" | ||
145 | "The partial derivatives can be either expressed in the LOCAL frame of the joint, in the " | ||
146 | "LOCAL_WORLD_ALIGNED frame or in the WORLD coordinate frame depending on the value of " | ||
147 | "reference_frame.\n" | ||
148 | "You must first call computeForwardKinematicsDerivatives before calling this function.\n\n" | ||
149 | "Parameters:\n" | ||
150 | "\tmodel: model of the kinematic tree\n" | ||
151 | "\tdata: data related to the model\n" | ||
152 | "\tjoint_id: index of the joint\n" | ||
153 | "\tplacement: relative placement of the point w.r.t. the joint frame\n" | ||
154 | "\treference_frame: reference frame in which the resulting derivatives are expressed\n"); | ||
155 | |||
156 |
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20 | bp::def( |
157 | "getPointClassicAccelerationDerivatives", getPointClassicAccelerationDerivatives_proxy, | ||
158 | 40 | bp::args("model", "data", "joint_id", "placement", "reference_frame"), | |
159 | "Computes the partial derivatives of the classic acceleration of a point given by its " | ||
160 | "placement information w.r.t. the joint frame and returns them as a tuple.\n" | ||
161 | "The partial derivatives can be either expressed in the LOCAL frame of the joint, in the " | ||
162 | "LOCAL_WORLD_ALIGNED frame or in the WORLD coordinate frame depending on the value of " | ||
163 | "reference_frame.\n" | ||
164 | "You must first call computeForwardKinematicsDerivatives before calling this function.\n\n" | ||
165 | "Parameters:\n" | ||
166 | "\tmodel: model of the kinematic tree\n" | ||
167 | "\tdata: data related to the model\n" | ||
168 | "\tjoint_id: index of the joint\n" | ||
169 | "\tplacement: relative placement of the point w.r.t. the joint frame\n" | ||
170 | "\treference_frame: reference frame in which the resulting derivatives are expressed\n"); | ||
171 | |||
172 |
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20 | bp::def( |
173 | "getJointAccelerationDerivatives", getJointAccelerationDerivatives_proxy, | ||
174 | 40 | bp::args("model", "data", "joint_id", "reference_frame"), | |
175 | "Computes the partial derivatives of the spatial acceleration of a given joint with " | ||
176 | "respect to\n" | ||
177 | "the joint configuration, velocity and acceleration and returns them as a tuple.\n" | ||
178 | "The partial derivatives can be either expressed in the LOCAL frame of the joint, in the " | ||
179 | "LOCAL_WORLD_ALIGNED frame or in the WORLD coordinate frame depending on the value of " | ||
180 | "reference_frame.\n" | ||
181 | "You must first call computeForwardKinematicsDerivatives before calling this function.\n\n" | ||
182 | "Parameters:\n" | ||
183 | "\tmodel: model of the kinematic tree\n" | ||
184 | "\tdata: data related to the model\n" | ||
185 | "\tjoint_id: index of the joint\n" | ||
186 | "\treference_frame: reference frame in which the resulting derivatives are expressed\n"); | ||
187 | |||
188 |
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20 | bp::def( |
189 | "getCenterOfMassVelocityDerivatives", getCoMVelocityDerivatives_proxy, | ||
190 | 40 | bp::args("model", "data"), | |
191 | "Computes the partial derivaties of the center of mass velocity with respect to\n" | ||
192 | "the joint configuration.\n" | ||
193 | "You must first call computeAllTerms(model,data,q,v) or centerOfMass(model,data,q,v) " | ||
194 | "before calling this function.\n\n" | ||
195 | "Parameters:\n" | ||
196 | "\tmodel: model of the kinematic tree\n" | ||
197 | "\tdata: data related to the model\n"); | ||
198 | 20 | } | |
199 | |||
200 | } // namespace python | ||
201 | } // namespace pinocchio | ||
202 |