| Directory: | ./ |
|---|---|
| File: | bindings/python/algorithm/expose-kinematics.cpp |
| Date: | 2024-08-27 18:20:05 |
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| Lines: | 19 | 19 | 100.0% |
| Branches: | 28 | 56 | 50.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2015-2021 CNRS INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #include "pinocchio/bindings/python/algorithm/algorithms.hpp" | ||
| 6 | #include "pinocchio/algorithm/kinematics.hpp" | ||
| 7 | |||
| 8 | namespace pinocchio | ||
| 9 | { | ||
| 10 | namespace python | ||
| 11 | { | ||
| 12 | |||
| 13 | 20 | void exposeKinematics() | |
| 14 | { | ||
| 15 | typedef context::Scalar Scalar; | ||
| 16 | typedef context::VectorXs VectorXs; | ||
| 17 | enum | ||
| 18 | { | ||
| 19 | Options = context::Options | ||
| 20 | }; | ||
| 21 | |||
| 22 |
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20 | bp::def( |
| 23 | "updateGlobalPlacements", | ||
| 24 | &updateGlobalPlacements<Scalar, Options, JointCollectionDefaultTpl>, | ||
| 25 | 40 | bp::args("model", "data"), | |
| 26 | "Updates the global placements of all joint frames of the kinematic " | ||
| 27 | "tree and store the results in data according to the relative placements of the joints.\n\n" | ||
| 28 | "Parameters:\n" | ||
| 29 | "\tmodel: model of the kinematic tree\n" | ||
| 30 | "\tdata: data related to the model\n"); | ||
| 31 | |||
| 32 |
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20 | bp::def( |
| 33 | "getVelocity", &getVelocity<Scalar, Options, JointCollectionDefaultTpl>, | ||
| 34 |
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60 | (bp::arg("model"), bp::arg("data"), bp::arg("joint_id"), |
| 35 |
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40 | bp::arg("reference_frame") = LOCAL), |
| 36 | "Returns the spatial velocity of the joint expressed in the coordinate system given " | ||
| 37 | "by reference_frame.\n" | ||
| 38 | "forwardKinematics(model,data,q,v[,a]) should be called first to compute the joint " | ||
| 39 | "spatial velocity stored in data.v"); | ||
| 40 | |||
| 41 |
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20 | bp::def( |
| 42 | "getAcceleration", &getAcceleration<Scalar, Options, JointCollectionDefaultTpl>, | ||
| 43 |
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60 | (bp::arg("model"), bp::arg("data"), bp::arg("joint_id"), |
| 44 |
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40 | bp::arg("reference_frame") = LOCAL), |
| 45 | "Returns the spatial acceleration of the joint expressed in the coordinate system " | ||
| 46 | "given by reference_frame.\n" | ||
| 47 | "forwardKinematics(model,data,q,v,a) should be called first to compute the joint " | ||
| 48 | "spatial acceleration stored in data.a ."); | ||
| 49 | |||
| 50 |
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20 | bp::def( |
| 51 | "getClassicalAcceleration", | ||
| 52 | &getClassicalAcceleration<Scalar, Options, JointCollectionDefaultTpl>, | ||
| 53 |
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60 | (bp::arg("model"), bp::arg("data"), bp::arg("joint_id"), |
| 54 |
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40 | bp::arg("reference_frame") = LOCAL), |
| 55 | "Returns the \"classical\" acceleration of the joint expressed in the coordinate " | ||
| 56 | "system given by reference_frame.\n" | ||
| 57 | "forwardKinematics(model,data,q,v,a) should be called first to compute the joint " | ||
| 58 | "spatial acceleration stored in data.a ."); | ||
| 59 | |||
| 60 |
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20 | bp::def( |
| 61 | "forwardKinematics", | ||
| 62 | &forwardKinematics<Scalar, Options, JointCollectionDefaultTpl, VectorXs>, | ||
| 63 | 40 | bp::args("model", "data", "q"), | |
| 64 | "Compute the global placements of all the joints of the kinematic " | ||
| 65 | "tree and store the results in data.\n\n" | ||
| 66 | "Parameters:\n" | ||
| 67 | "\tmodel: model of the kinematic tree\n" | ||
| 68 | "\tdata: data related to the model\n" | ||
| 69 | "\tq: the joint configuration vector (size model.nq)\n"); | ||
| 70 | |||
| 71 |
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20 | bp::def( |
| 72 | "forwardKinematics", | ||
| 73 | &forwardKinematics<Scalar, Options, JointCollectionDefaultTpl, VectorXs, VectorXs>, | ||
| 74 | 40 | bp::args("model", "data", "q", "v"), | |
| 75 | "Compute the global placements and local spatial velocities of all the joints of the " | ||
| 76 | "kinematic " | ||
| 77 | "tree and store the results in data.\n\n" | ||
| 78 | "Parameters:\n" | ||
| 79 | "\tmodel: model of the kinematic tree\n" | ||
| 80 | "\tdata: data related to the model\n" | ||
| 81 | "\tq: the joint configuration vector (size model.nq)\n" | ||
| 82 | "\tv: the joint velocity vector (size model.nv)\n"); | ||
| 83 | |||
| 84 |
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20 | bp::def( |
| 85 | "forwardKinematics", | ||
| 86 | &forwardKinematics< | ||
| 87 | Scalar, Options, JointCollectionDefaultTpl, VectorXs, VectorXs, VectorXs>, | ||
| 88 | 40 | bp::args("model", "data", "q", "v", "a"), | |
| 89 | "Compute the global placements, local spatial velocities and spatial accelerations " | ||
| 90 | "of all the joints of the kinematic " | ||
| 91 | "tree and store the results in data.\n\n" | ||
| 92 | "Parameters:\n" | ||
| 93 | "\tmodel: model of the kinematic tree\n" | ||
| 94 | "\tdata: data related to the model\n" | ||
| 95 | "\tq: the joint configuration vector (size model.nq)\n" | ||
| 96 | "\tv: the joint velocity vector (size model.nv)\n" | ||
| 97 | "\ta: the joint acceleration vector (size model.nv)\n"); | ||
| 98 | 20 | } | |
| 99 | |||
| 100 | } // namespace python | ||
| 101 | } // namespace pinocchio | ||
| 102 |