Directory: | ./ |
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File: | bindings/python/spatial/expose-skew.cpp |
Date: | 2024-08-27 18:20:05 |
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Lines: | 8 | 14 | 57.1% |
Branches: | 3 | 6 | 50.0% |
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1 | // | ||
2 | // Copyright (c) 2015-2021 CNRS INRIA | ||
3 | // Copyright (c) 2020 Wandercraft | ||
4 | // | ||
5 | |||
6 | #include "pinocchio/bindings/python/fwd.hpp" | ||
7 | #include "pinocchio/spatial/se3.hpp" | ||
8 | #include "pinocchio/spatial/skew.hpp" | ||
9 | |||
10 | namespace pinocchio | ||
11 | { | ||
12 | namespace python | ||
13 | { | ||
14 | namespace bp = boost::python; | ||
15 | |||
16 | // We need to resort to another call, because it seems that Boost.Python is not aligning the | ||
17 | // Eigen::MatrixBase. TODO: fix it! | ||
18 | template<typename Vector3> | ||
19 | ✗ | Eigen::Matrix<typename Vector3::Scalar, 3, 3, Vector3::Options> skew(const Vector3 & v) | |
20 | { | ||
21 | ✗ | return pinocchio::skew(v); | |
22 | } | ||
23 | |||
24 | // We need to resort to another call, because it seems that Boost.Python is not aligning the | ||
25 | // Eigen::MatrixBase. TODO: fix it! | ||
26 | template<typename Vector3> | ||
27 | Eigen::Matrix<typename Vector3::Scalar, 3, 3, Vector3::Options> | ||
28 | ✗ | skewSquare(const Vector3 & u, const Vector3 & v) | |
29 | { | ||
30 | ✗ | return pinocchio::skewSquare(u, v); | |
31 | } | ||
32 | |||
33 | // We need to resort to another call, because it seems that Boost.Python is not aligning the | ||
34 | // Eigen::MatrixBase. TODO: fix it! | ||
35 | template<typename Matrix3> | ||
36 | ✗ | Eigen::Matrix<typename Matrix3::Scalar, 3, 1, Matrix3::Options> unSkew(const Matrix3 & mat) | |
37 | { | ||
38 | ✗ | return pinocchio::unSkew(mat); | |
39 | } | ||
40 | |||
41 | 20 | void exposeSkew() | |
42 | { | ||
43 | typedef context::SE3::Matrix3 Matrix3; | ||
44 | typedef context::SE3::Vector3 Vector3; | ||
45 | |||
46 |
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20 | bp::def( |
47 | 40 | "skew", &skew<Vector3>, bp::arg("u"), | |
48 | "Computes the skew representation of a given 3d vector, " | ||
49 | "i.e. the antisymmetric matrix representation of the cross product operator, aka U = " | ||
50 | "[u]x.\n" | ||
51 | "Parameters:\n" | ||
52 | "\tu: the input vector of dimension 3"); | ||
53 | |||
54 |
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20 | bp::def( |
55 | 40 | "skewSquare", &skewSquare<Vector3>, bp::args("u", "v"), | |
56 | "Computes the skew square representation of two given 3d vectors, " | ||
57 | "i.e. the antisymmetric matrix representation of the chained cross product operator, " | ||
58 | "u x (v x w), where w is another 3d vector.\n" | ||
59 | "Parameters:\n" | ||
60 | "\tu: the first input vector of dimension 3\n" | ||
61 | "\tv: the second input vector of dimension 3"); | ||
62 | |||
63 |
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20 | bp::def( |
64 | 40 | "unSkew", &unSkew<Matrix3>, bp::arg("U"), | |
65 | "Inverse of skew operator. From a given skew symmetric matrix U (i.e U = -U.T)" | ||
66 | "of dimension 3x3, it extracts the supporting vector, i.e. the entries of U.\n" | ||
67 | "Mathematically speacking, it computes v such that U.dot(x) = cross(u, x).\n" | ||
68 | "Parameters:\n" | ||
69 | "\tU: the input skew symmetric matrix of dimension 3x3."); | ||
70 | 20 | } | |
71 | |||
72 | } // namespace python | ||
73 | } // namespace pinocchio | ||
74 |