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// Copyright (c) 2015-2021 CNRS INRIA |
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// |
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#ifndef __pinocchio_python_multibody_joint_joint_hpp__ |
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#define __pinocchio_python_multibody_joint_joint_hpp__ |
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#include <boost/python.hpp> |
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#include "pinocchio/multibody/joint/joint-generic.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 JointModelPythonVisitor |
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: public boost::python::def_visitor< JointModelPythonVisitor > |
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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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✓✗ |
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cl |
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.def(bp::init<>(bp::arg("self"))) |
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// All are add_properties cause ReadOnly |
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✓✗✓✗
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.add_property("id",&getId) |
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✓✗ |
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.add_property("idx_q",&getIdx_q) |
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✓✗ |
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.add_property("idx_v",&getIdx_v) |
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✓✗ |
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.add_property("nq",&getNq) |
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✓✗ |
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.add_property("nv",&getNv) |
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✓✗ |
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.def("hasConfigurationLimit", &JointModel::hasConfigurationLimit, |
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"Return vector of boolean if joint has configuration limits.") |
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.def("hasConfigurationLimitInTangent", &JointModel::hasConfigurationLimitInTangent, |
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"Return vector of boolean if joint has configuration limits in tangent space.") |
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✓✗ |
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.def("setIndexes", |
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&JointModel::setIndexes, |
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bp::args("self","id","idx_q","idx_v")) |
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✓✗✓✗
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.def("hasSameIndexes", |
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&JointModel::hasSameIndexes<JointModel>, |
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bp::args("self","other"), |
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"Check if this has same indexes than other.") |
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✓✗✓✗
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.def("shortname", |
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&JointModel::shortname, |
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bp::arg("self"), |
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"Returns string indicating the joint type (class name):" |
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"\n\t- JointModelR[*]: Revolute Joint, with rotation axis [*] ∈ [X,Y,Z]" |
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"\n\t- JointModelRevoluteUnaligned: Revolute Joint, with rotation axis not aligned with X, Y, nor Z" |
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"\n\t- JointModelRUB[*]: Unbounded revolute Joint (without position limits), with rotation axis [*] ∈ [X,Y,Z]" |
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"\n\t- JointModelRevoluteUnboundedUnaligned: Unbounded revolute Joint, with rotation axis not aligned with X, Y, nor Z" |
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"\n\t- JointModelP[*]: Prismatic Joint, with rotation axis [*] ∈ [X,Y,Z]" |
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"\n\t- JointModelPlanar: Planar joint" |
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"\n\t- JointModelPrismaticUnaligned: Prismatic joint, with translation axis not aligned with X, Y, nor Z" |
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"\n\t- JointModelSphericalZYX: Spherical joint (3D rotation)" |
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"\n\t- JointModelTranslation: Translation joint (3D translation)" |
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"\n\t- JointModelFreeFlyer: Joint enabling 3D rotation and translations." |
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) |
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✓✗✓✗
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.def(bp::self == bp::self) |
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✓✗✓✗
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.def(bp::self != bp::self) |
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; |
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} |
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static JointIndex getId( const JointModel & self ) { return self.id(); } |
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static int getIdx_q(const JointModel & self) {return self.idx_q();} |
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static int getIdx_v(const JointModel & self) {return self.idx_v();} |
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static int getNq(const JointModel & self) {return self.nq();} |
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static int getNv(const JointModel & self) {return self.nv();} |
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static void expose() |
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{ |
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bp::class_<JointModel>("JointModel", |
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"Generic Joint Model", |
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bp::no_init) |
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✓✗✓✗
✓✗ |
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.def(bp::init<JointModel>(bp::args("self","other"))) |
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✓✗ |
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.def(JointModelPythonVisitor()) |
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✓✗ |
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.def(PrintableVisitor<JointModel>()) |
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; |
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} |
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}; |
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}} // namespace pinocchio::python |
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#endif // ifndef __pinocchio_python_multibody_joint_joint_hpp__ |