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// |
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// Copyright (c) 2016-2021 CNRS INRIA |
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// |
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#ifndef __pinocchio_python_frame_hpp__ |
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#define __pinocchio_python_frame_hpp__ |
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#include "pinocchio/multibody/fwd.hpp" |
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#include "pinocchio/multibody/frame.hpp" |
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#include "pinocchio/bindings/python/utils/copyable.hpp" |
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#include "pinocchio/bindings/python/utils/printable.hpp" |
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namespace pinocchio |
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{ |
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namespace python |
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{ |
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namespace bp = boost::python; |
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struct FramePythonVisitor |
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: public bp::def_visitor< FramePythonVisitor > |
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{ |
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template<class PyClass> |
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void visit(PyClass& cl) const |
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{ |
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✓✗ | 19 |
cl |
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.def(bp::init<>(bp::arg("self"),"Default constructor")) |
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✓✗✓✗ |
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.def(bp::init<const Frame &>(bp::args("self","other"),"Copy constructor")) |
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✓✗✓✗ ✓✗ |
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.def(bp::init< const std::string&,const JointIndex, const FrameIndex, const SE3&, FrameType, bp::optional<const Inertia&> > ((bp::arg("name"),bp::arg("parent_joint"), bp::args("parent_frame"), bp::arg("placement"), bp::arg("type"), bp::arg("inertia")), |
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"Initialize from a given name, type, parent joint index, parent frame index and placement wrt parent joint and an spatial inertia object.")) |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
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.def_readwrite("name", &Frame::name, "name of the frame") |
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✓✗ | 19 |
.def_readwrite("parent", &Frame::parent, "id of the parent joint") |
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✓✗ | 19 |
.def_readwrite("previousFrame", &Frame::previousFrame, "id of the previous frame") |
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✓✗ | 19 |
.def_readwrite("placement", |
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&Frame::placement, |
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"placement in the parent joint local frame") |
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✓✗ | 19 |
.def_readwrite("type", &Frame::type, "Type of the frame") |
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✓✗ | 19 |
.def_readwrite("inertia", &Frame::inertia,"Inertia information attached to the frame.") |
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✓✗ | 19 |
.def(bp::self == bp::self) |
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✓✗ | 38 |
.def(bp::self != bp::self) |
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; |
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} |
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static void expose() |
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{ |
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bp::enum_<FrameType>("FrameType") |
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✓✗ | 19 |
.value("OP_FRAME",OP_FRAME) |
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✓✗ | 19 |
.value("JOINT",JOINT) |
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✓✗ | 19 |
.value("FIXED_JOINT",FIXED_JOINT) |
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✓✗ | 19 |
.value("BODY",BODY) |
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✓✗ | 19 |
.value("SENSOR",SENSOR) |
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✓✗ | 19 |
.export_values() |
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; |
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bp::class_<Frame>("Frame", |
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"A Plucker coordinate frame related to a parent joint inside a kinematic tree.\n\n", |
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bp::no_init |
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) |
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✓✗ | 19 |
.def(FramePythonVisitor()) |
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✓✗ | 19 |
.def(CopyableVisitor<Frame>()) |
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✓✗ | 19 |
.def(PrintableVisitor<Frame>()) |
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✓✗ | 19 |
.def_pickle(Pickle()) |
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; |
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} |
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private: |
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struct Pickle : bp::pickle_suite |
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{ |
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static bp::tuple getinitargs(const Frame &) |
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{ |
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return bp::make_tuple(); |
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} |
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static bp::tuple getstate(const Frame & f) |
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{ |
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return bp::make_tuple(f.name, f.parent, f.previousFrame, f.placement, (int)f.type, f.inertia); |
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} |
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static void setstate(Frame & f, bp::tuple tup) |
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{ |
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f.name = bp::extract<std::string>(tup[0]); |
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f.parent = bp::extract<JointIndex>(tup[1]); |
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f.previousFrame = bp::extract<JointIndex>(tup[2]); |
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f.placement = bp::extract<SE3&>(tup[3]); |
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f.type = (FrameType)(int)bp::extract<int>(tup[4]); |
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if(bp::len(tup) > 5) |
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f.inertia = bp::extract<Inertia&>(tup[5]); |
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} |
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static bool getstate_manages_dict() { return true; } |
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}; |
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}; |
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} // namespace python |
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} // namespace pinocchio |
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#endif // ifndef __pinocchio_python_frame_hpp__ |
| Generated by: GCOVR (Version 4.2) |