Directory: | ./ |
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File: | include/pinocchio/bindings/python/multibody/frame.hpp |
Date: | 2024-08-27 18:20:05 |
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1 | // | ||
2 | // Copyright (c) 2016-2022 CNRS INRIA | ||
3 | // | ||
4 | |||
5 | #ifndef __pinocchio_python_multibody_frame_hpp__ | ||
6 | #define __pinocchio_python_multibody_frame_hpp__ | ||
7 | |||
8 | #include "pinocchio/multibody/fwd.hpp" | ||
9 | #include "pinocchio/multibody/frame.hpp" | ||
10 | |||
11 | #include "pinocchio/bindings/python/utils/deprecation.hpp" | ||
12 | #include "pinocchio/bindings/python/utils/cast.hpp" | ||
13 | #include "pinocchio/bindings/python/utils/copyable.hpp" | ||
14 | #include "pinocchio/bindings/python/utils/printable.hpp" | ||
15 | #include "pinocchio/bindings/python/utils/registration.hpp" | ||
16 | |||
17 | namespace pinocchio | ||
18 | { | ||
19 | namespace python | ||
20 | { | ||
21 | namespace bp = boost::python; | ||
22 | |||
23 | template<typename Frame> | ||
24 | struct FramePythonVisitor : public boost::python::def_visitor<FramePythonVisitor<Frame>> | ||
25 | { | ||
26 | typedef typename Frame::SE3 SE3; | ||
27 | typedef typename Frame::Inertia Inertia; | ||
28 | |||
29 | template<class PyClass> | ||
30 | 20 | void visit(PyClass & cl) const | |
31 | { | ||
32 |
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20 | cl.def(bp::init<>(bp::arg("self"), "Default constructor")) |
33 |
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40 | .def(bp::init<const Frame &>(bp::args("self", "other"), "Copy constructor")) |
34 |
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80 | .def(bp::init< |
35 | const std::string &, const JointIndex, const SE3 &, FrameType, | ||
36 | bp::optional<const Inertia &>>( | ||
37 |
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80 | (bp::arg("name"), bp::arg("parent_joint"), bp::arg("placement"), bp::arg("type"), |
38 |
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40 | bp::arg("inertia")), |
39 | "Initialize from a given name, type, parent frame index and placement wrt parent joint " | ||
40 | "and an spatial inertia object.")) | ||
41 |
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100 | .def(bp::init< |
42 | const std::string &, const JointIndex, const FrameIndex, const SE3 &, FrameType, | ||
43 | bp::optional<const Inertia &>>( | ||
44 |
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40 | (bp::arg("name"), bp::arg("parent_joint"), bp::args("parent_frame"), |
45 |
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80 | bp::arg("placement"), bp::arg("type"), bp::arg("inertia")), |
46 | "Initialize from a given name, type, parent joint index, parent frame index and " | ||
47 | "placement wrt parent joint and an spatial inertia object.")) | ||
48 |
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40 | .def(bp::init<const Frame &>((bp::arg("self"), bp::arg("clone")), "Copy constructor")) |
49 | |||
50 |
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20 | .def_readwrite("name", &Frame::name, "name of the frame") |
51 |
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20 | .def_readwrite("parentJoint", &Frame::parentJoint, "Index of the parent joint") |
52 |
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20 | .def_readwrite("parentFrame", &Frame::parentFrame, "Index of the parent frame") |
53 |
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40 | .add_property( |
54 | "parent", | ||
55 | bp::make_function( | ||
56 | ✗ | +[](const Frame & self) { return self.parentJoint; }, | |
57 |
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40 | deprecated_member<>("Deprecated member. Use Frame.parentJoint instead.")), |
58 | bp::make_function( | ||
59 | ✗ | +[](Frame & self, const JointIndex index) { self.parentJoint = index; }, | |
60 |
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40 | deprecated_member<>("Deprecated member. Use Frame.parentJoint instead.")), |
61 | "See parentJoint property.") | ||
62 |
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40 | .add_property( |
63 | "previousFrame", | ||
64 | bp::make_function( | ||
65 | ✗ | +[](const Frame & self) { return self.parentFrame; }, | |
66 |
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40 | deprecated_member<>("Deprecated member. Use Frame.parentFrame instead.")), |
67 | bp::make_function( | ||
68 | ✗ | +[](Frame & self, const FrameIndex index) { self.parentFrame = index; }, | |
69 |
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40 | deprecated_member<>("Deprecated member. Use Frame.parentFrame instead.")), |
70 | "See parentFrame property.") | ||
71 |
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20 | .def_readwrite( |
72 | "placement", &Frame::placement, "placement in the parent joint local frame") | ||
73 |
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20 | .def_readwrite("type", &Frame::type, "type of the frame") |
74 |
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20 | .def_readwrite("inertia", &Frame::inertia, "Inertia information attached to the frame.") |
75 | |||
76 | #ifndef PINOCCHIO_PYTHON_SKIP_COMPARISON_OPERATIONS | ||
77 |
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20 | .def(bp::self == bp::self) |
78 |
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20 | .def(bp::self != bp::self) |
79 | #endif | ||
80 | ; | ||
81 | 20 | } | |
82 | |||
83 | 20 | static void expose() | |
84 | { | ||
85 |
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20 | if (!register_symbolic_link_to_registered_type<FrameType>()) |
86 | { | ||
87 | 40 | bp::enum_<FrameType>("FrameType") | |
88 |
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20 | .value("OP_FRAME", OP_FRAME) |
89 |
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20 | .value("JOINT", JOINT) |
90 |
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20 | .value("FIXED_JOINT", FIXED_JOINT) |
91 |
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20 | .value("BODY", BODY) |
92 |
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20 | .value("SENSOR", SENSOR) |
93 |
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20 | .export_values(); |
94 | } | ||
95 | |||
96 | 20 | bp::class_<Frame>( | |
97 | "Frame", | ||
98 | "A Plucker coordinate frame related to a parent joint inside a kinematic tree.\n", | ||
99 | bp::no_init) | ||
100 |
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20 | .def(FramePythonVisitor()) |
101 |
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20 | .def(CastVisitor<Frame>()) |
102 |
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20 | .def(ExposeConstructorByCastVisitor<Frame, ::pinocchio::Frame>()) |
103 |
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20 | .def(CopyableVisitor<Frame>()) |
104 |
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20 | .def(PrintableVisitor<Frame>()) |
105 |
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20 | .def_pickle(Pickle()); |
106 | 20 | } | |
107 | |||
108 | private: | ||
109 | struct Pickle : bp::pickle_suite | ||
110 | { | ||
111 | ✗ | static bp::tuple getinitargs(const Frame &) | |
112 | { | ||
113 | ✗ | return bp::make_tuple(); | |
114 | } | ||
115 | |||
116 | ✗ | static bp::tuple getstate(const Frame & f) | |
117 | { | ||
118 | return bp::make_tuple( | ||
119 | ✗ | f.name, f.parentJoint, f.parentFrame, f.placement, (int)f.type, f.inertia); | |
120 | } | ||
121 | |||
122 | ✗ | static void setstate(Frame & f, bp::tuple tup) | |
123 | { | ||
124 | ✗ | f.name = bp::extract<std::string>(tup[0]); | |
125 | ✗ | f.parentJoint = bp::extract<JointIndex>(tup[1]); | |
126 | ✗ | f.parentFrame = bp::extract<JointIndex>(tup[2]); | |
127 | ✗ | f.placement = bp::extract<SE3 &>(tup[3]); | |
128 | ✗ | f.type = (FrameType)(int)bp::extract<int>(tup[4]); | |
129 | ✗ | if (bp::len(tup) > 5) | |
130 | ✗ | f.inertia = bp::extract<Inertia &>(tup[5]); | |
131 | } | ||
132 | |||
133 | 20 | static bool getstate_manages_dict() | |
134 | { | ||
135 | 20 | return true; | |
136 | } | ||
137 | }; | ||
138 | }; | ||
139 | |||
140 | } // namespace python | ||
141 | } // namespace pinocchio | ||
142 | |||
143 | #endif // ifndef __pinocchio_python_multibody_frame_hpp__ | ||
144 |