Directory: | ./ |
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File: | bindings/python/algorithm/expose-model.cpp |
Date: | 2024-08-27 18:20:05 |
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Lines: | 33 | 37 | 89.2% |
Branches: | 21 | 46 | 45.7% |
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1 | // | ||
2 | // Copyright (c) 2019-2024 INRIA | ||
3 | // | ||
4 | |||
5 | #include "pinocchio/bindings/python/algorithm/algorithms.hpp" | ||
6 | #include "pinocchio/bindings/python/utils/std-vector.hpp" | ||
7 | #include "pinocchio/algorithm/model.hpp" | ||
8 | |||
9 | namespace pinocchio | ||
10 | { | ||
11 | namespace python | ||
12 | { | ||
13 | |||
14 | namespace bp = boost::python; | ||
15 | |||
16 | template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl> | ||
17 | 1 | bp::tuple appendModel_proxy( | |
18 | const ModelTpl<Scalar, Options, JointCollectionTpl> & modelA, | ||
19 | const ModelTpl<Scalar, Options, JointCollectionTpl> & modelB, | ||
20 | const GeometryModel & geomModelA, | ||
21 | const GeometryModel & geomModelB, | ||
22 | const FrameIndex frameInModelA, | ||
23 | const SE3Tpl<Scalar, Options> & aMb) | ||
24 | { | ||
25 | typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model; | ||
26 |
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1 | Model model; |
27 |
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1 | GeometryModel geom_model; |
28 | |||
29 |
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1 | appendModel(modelA, modelB, geomModelA, geomModelB, frameInModelA, aMb, model, geom_model); |
30 | |||
31 |
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2 | return bp::make_tuple(model, geom_model); |
32 | 1 | } | |
33 | |||
34 | template< | ||
35 | typename Scalar, | ||
36 | int Options, | ||
37 | template<typename, int> | ||
38 | class JointCollectionTpl, | ||
39 | typename ConfigVectorType> | ||
40 | 1 | bp::tuple buildReducedModel( | |
41 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
42 | const GeometryModel & geom_model, | ||
43 | const std::vector<JointIndex> & list_of_joints_to_lock, | ||
44 | const Eigen::MatrixBase<ConfigVectorType> & reference_configuration) | ||
45 | { | ||
46 | typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model; | ||
47 |
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1 | Model reduced_model; |
48 |
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1 | GeometryModel reduced_geom_model; |
49 | |||
50 |
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1 | buildReducedModel( |
51 | model, geom_model, list_of_joints_to_lock, reference_configuration, reduced_model, | ||
52 | reduced_geom_model); | ||
53 | |||
54 |
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2 | return bp::make_tuple(reduced_model, reduced_geom_model); |
55 | 1 | } | |
56 | |||
57 | template< | ||
58 | typename Scalar, | ||
59 | int Options, | ||
60 | template<typename, int> | ||
61 | class JointCollectionTpl, | ||
62 | typename ConfigVectorType> | ||
63 | 2 | bp::tuple buildReducedModel( | |
64 | const ModelTpl<Scalar, Options, JointCollectionTpl> & model, | ||
65 | const std::vector<GeometryModel, Eigen::aligned_allocator<GeometryModel>> & | ||
66 | list_of_geom_models, | ||
67 | const std::vector<JointIndex> & list_of_joints_to_lock, | ||
68 | const Eigen::MatrixBase<ConfigVectorType> & reference_configuration) | ||
69 | { | ||
70 | typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model; | ||
71 |
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2 | std::vector<GeometryModel, Eigen::aligned_allocator<GeometryModel>> reduced_geom_models; |
72 |
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2 | Model reduced_model; |
73 |
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2 | buildReducedModel( |
74 | model, list_of_geom_models, list_of_joints_to_lock, reference_configuration, reduced_model, | ||
75 | reduced_geom_models); | ||
76 |
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4 | return bp::make_tuple(reduced_model, reduced_geom_models); |
77 | 2 | } | |
78 | |||
79 | ✗ | bp::tuple findCommonAncestor_proxy( | |
80 | const context::Model & model, const JointIndex joint1_id, const JointIndex joint2_id) | ||
81 | { | ||
82 | size_t index_ancestor_in_support1, index_ancestor_in_support2; | ||
83 | ✗ | JointIndex ancestor_id = findCommonAncestor( | |
84 | ✗ | model, joint1_id, joint2_id, index_ancestor_in_support1, index_ancestor_in_support2); | |
85 | ✗ | return bp::make_tuple(ancestor_id, index_ancestor_in_support1, index_ancestor_in_support2); | |
86 | } | ||
87 | |||
88 | 20 | void exposeModelAlgo() | |
89 | { | ||
90 | using namespace Eigen; | ||
91 | |||
92 | typedef std::vector<GeometryModel, Eigen::aligned_allocator<GeometryModel>> | ||
93 | GeometryModelVector; | ||
94 |
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20 | StdVectorPythonVisitor<GeometryModelVector>::expose("StdVec_GeometryModel"); |
95 | |||
96 |
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20 | bp::def( |
97 | "appendModel", | ||
98 | (Model(*)(const Model &, const Model &, const FrameIndex, const SE3 &)) | ||
99 | & appendModel<double, 0, JointCollectionDefaultTpl>, | ||
100 | 40 | bp::args("modelA", "modelB", "frame_in_modelA", "aMb"), | |
101 | "Append a child model into a parent model, after a specific frame given by its index.\n\n" | ||
102 | "Parameters:\n" | ||
103 | "\tmodelA: the parent model\n" | ||
104 | "\tmodelB: the child model\n" | ||
105 | "\tframeInModelA: index of the frame of modelA where to append modelB\n" | ||
106 | "\taMb: pose of modelB universe joint (index 0) in frameInModelA\n"); | ||
107 | |||
108 |
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20 | bp::def( |
109 | "appendModel", &appendModel_proxy<double, 0, JointCollectionDefaultTpl>, | ||
110 | 40 | bp::args("modelA", "modelB", "geomModelA", "geomModelB", "frame_in_modelA", "aMb"), | |
111 | "Append a child (geometry) model into a parent (geometry) model, after a specific " | ||
112 | "frame given by its index.\n\n" | ||
113 | "Parameters:\n" | ||
114 | "\tmodelA: the parent model\n" | ||
115 | "\tmodelB: the child model\n" | ||
116 | "\tgeomModelA: the parent geometry model\n" | ||
117 | "\tgeomModelB: the child geometry model\n" | ||
118 | "\tframeInModelA: index of the frame of modelA where to append modelB\n" | ||
119 | "\taMb: pose of modelB universe joint (index 0) in frameInModelA\n"); | ||
120 | |||
121 |
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20 | bp::def( |
122 | "buildReducedModel", | ||
123 | (Model(*)( | ||
124 | const Model &, const std::vector<JointIndex> &, const Eigen::MatrixBase<VectorXd> &)) | ||
125 | & pinocchio::buildReducedModel<double, 0, JointCollectionDefaultTpl, VectorXd>, | ||
126 | 40 | bp::args("model", "list_of_joints_to_lock", "reference_configuration"), | |
127 | "Build a reduce model from a given input model and a list of joint to lock.\n\n" | ||
128 | "Parameters:\n" | ||
129 | "\tmodel: input kinematic modell to reduce\n" | ||
130 | "\tlist_of_joints_to_lock: list of joint indexes to lock\n" | ||
131 | "\treference_configuration: reference configuration to compute the placement of the " | ||
132 | "lock joints\n"); | ||
133 | |||
134 |
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20 | bp::def( |
135 | "buildReducedModel", | ||
136 | (bp::tuple(*)( | ||
137 | const Model &, const GeometryModel &, const std::vector<JointIndex> &, | ||
138 | const Eigen::MatrixBase<VectorXd> &)) | ||
139 | & buildReducedModel<double, 0, JointCollectionDefaultTpl, VectorXd>, | ||
140 | 40 | bp::args("model", "geom_model", "list_of_joints_to_lock", "reference_configuration"), | |
141 | "Build a reduced model and a reduced geometry model from a given input model," | ||
142 | "an input geometry model and a list of joints to lock.\n\n" | ||
143 | "Parameters:\n" | ||
144 | "\tmodel: input kinematic model to reduce\n" | ||
145 | "\tgeom_model: input geometry model to reduce\n" | ||
146 | "\tlist_of_joints_to_lock: list of joint indexes to lock\n" | ||
147 | "\treference_configuration: reference configuration to compute the placement of the " | ||
148 | "locked joints\n"); | ||
149 | |||
150 |
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20 | bp::def( |
151 | "buildReducedModel", | ||
152 | (bp::tuple(*)( | ||
153 | const Model &, | ||
154 | const std::vector<GeometryModel, Eigen::aligned_allocator<GeometryModel>> &, | ||
155 | const std::vector<JointIndex> &, const Eigen::MatrixBase<VectorXd> &)) | ||
156 | buildReducedModel<double, 0, JointCollectionDefaultTpl, VectorXd>, | ||
157 | 40 | bp::args( | |
158 | "model", "list_of_geom_models", "list_of_joints_to_lock", "reference_configuration"), | ||
159 | "Build a reduced model and the related reduced geometry models from a given " | ||
160 | "input model," | ||
161 | "a list of input geometry models and a list of joints to lock.\n\n" | ||
162 | "Parameters:\n" | ||
163 | "\tmodel: input kinematic model to reduce\n" | ||
164 | "\tlist_of_geom_models: input geometry models to reduce\n" | ||
165 | "\tlist_of_joints_to_lock: list of joint indexes to lock\n" | ||
166 | "\treference_configuration: reference configuration to compute the " | ||
167 | "placement of the locked joints\n"); | ||
168 | |||
169 |
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20 | bp::def( |
170 | 40 | "findCommonAncestor", findCommonAncestor_proxy, bp::args("model", "joint1_id", "joint2_id"), | |
171 | "Computes the common ancestor between two joints belonging to the same kinematic tree.\n\n" | ||
172 | "Parameters:\n" | ||
173 | "\tmodel: input model\n" | ||
174 | "\tjoint1_id: index of the first joint\n" | ||
175 | "\tjoint2_id: index of the second joint\n" | ||
176 | "Returns a tuple containing the index of the common joint ancestor, the position of this " | ||
177 | "ancestor in model.supports[joint1_id] and model.supports[joint2_id].\n"); | ||
178 | 20 | } | |
179 | |||
180 | } // namespace python | ||
181 | } // namespace pinocchio | ||
182 |