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// Copyright (c) 2015-2021 CNRS INRIA |
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// |
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#ifndef __pinocchio_python_joints_models_hpp__ |
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#define __pinocchio_python_joints_models_hpp__ |
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#include <boost/python.hpp> |
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#include "pinocchio/multibody/joint/joint-collection.hpp" |
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#include "pinocchio/multibody/joint/joint-composite.hpp" |
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#include "pinocchio/multibody/joint/joint-generic.hpp" |
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#include <eigenpy/eigen-to-python.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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// generic expose_joint_model : do nothing special |
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template <class T> |
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inline bp::class_<T>& expose_joint_model(bp::class_<T>& cl) |
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{ |
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return cl; |
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} |
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// specialization for JointModelRevoluteUnaligned |
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template<> |
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inline bp::class_<JointModelRevoluteUnaligned>& expose_joint_model<JointModelRevoluteUnaligned> (bp::class_<JointModelRevoluteUnaligned> & cl) |
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{ |
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return cl |
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✓✗ |
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.def(bp::init<double, double, double> (bp::args("self","x", "y", "z"), |
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✓✗ |
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"Init JointModelRevoluteUnaligned from the components x, y, z of the axis")) |
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✓✗✓✗
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.def(bp::init<Eigen::Vector3d> (bp::args("self","axis"), |
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"Init JointModelRevoluteUnaligned from an axis with x-y-z components")) |
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.def_readwrite("axis",&JointModelRevoluteUnaligned::axis, |
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✓✗ |
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"Rotation axis of the JointModelRevoluteUnaligned.") |
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; |
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} |
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// specialization for JointModelPrismaticUnaligned |
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template<> |
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inline bp::class_<JointModelPrismaticUnaligned>& expose_joint_model<JointModelPrismaticUnaligned> (bp::class_<JointModelPrismaticUnaligned> & cl) |
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{ |
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return cl |
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✓✗ |
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.def(bp::init<double, double, double> (bp::args("self","x", "y", "z"), |
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"Init JointModelPrismaticUnaligned from the components x, y, z of the axis")) |
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✓✗✓✗
|
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.def(bp::init<Eigen::Vector3d> (bp::args("self","axis"), |
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✓✗ |
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"Init JointModelPrismaticUnaligned from an axis with x-y-z components")) |
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.def_readwrite("axis",&JointModelPrismaticUnaligned::axis, |
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✓✗ |
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"Translation axis of the JointModelPrismaticUnaligned.") |
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; |
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} |
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// specialization for JointModelComposite |
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struct JointModelCompositeAddJointVisitor : public boost::static_visitor<JointModelComposite &> |
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{ |
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JointModelComposite & m_joint_composite; |
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const SE3 & m_joint_placement; |
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JointModelCompositeAddJointVisitor(JointModelComposite & joint_composite, |
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const SE3 & joint_placement) |
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: m_joint_composite(joint_composite) |
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, m_joint_placement(joint_placement) |
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{} |
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template <typename JointModelDerived> |
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JointModelComposite & operator()(JointModelDerived & jmodel) const |
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{ |
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return m_joint_composite.addJoint(jmodel,m_joint_placement); |
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} |
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}; // struct JointModelCompositeAddJointVisitor |
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static JointModelComposite & addJoint_proxy(JointModelComposite & joint_composite, |
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const JointModel & jmodel, |
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const SE3 & joint_placement = SE3::Identity()) |
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{ |
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return boost::apply_visitor(JointModelCompositeAddJointVisitor(joint_composite,joint_placement), |
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jmodel.toVariant()); |
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} |
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✗✗ |
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BOOST_PYTHON_FUNCTION_OVERLOADS(addJoint_proxy_overloads,addJoint_proxy,2,3) |
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struct JointModelCompositeConstructorVisitor : public boost::static_visitor<JointModelComposite* > |
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{ |
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const SE3 & m_joint_placement; |
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JointModelCompositeConstructorVisitor(const SE3 & joint_placement) |
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: m_joint_placement(joint_placement) |
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{} |
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template <typename JointModelDerived> |
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JointModelComposite* operator()(JointModelDerived & jmodel) const |
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{ |
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return new JointModelComposite(jmodel,m_joint_placement); |
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} |
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}; // struct JointModelCompositeConstructorVisitor |
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static JointModelComposite* init_proxy1(const JointModel & jmodel) |
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{ |
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return boost::apply_visitor(JointModelCompositeConstructorVisitor(SE3::Identity()), |
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jmodel); |
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} |
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static JointModelComposite* init_proxy2(const JointModel & jmodel, |
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const SE3 & joint_placement) |
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{ |
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return boost::apply_visitor(JointModelCompositeConstructorVisitor(joint_placement), |
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jmodel); |
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} |
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template<> |
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bp::class_<JointModelComposite> & expose_joint_model<JointModelComposite>(bp::class_<JointModelComposite> & cl) |
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{ |
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return cl |
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✓✗ |
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.def(bp::init<const size_t> (bp::args("self","size"), |
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"Init JointModelComposite with a defined size")) |
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.def("__init__", |
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bp::make_constructor(init_proxy1, |
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bp::default_call_policies(), |
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✓✗ |
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bp::args("joint_model") |
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), |
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"Init JointModelComposite from a joint" |
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✓✗ |
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) |
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.def("__init__", |
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✓✗ |
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bp::make_constructor(init_proxy2, |
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bp::default_call_policies(), |
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✓✗ |
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bp::args("joint_model","joint_placement") |
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), |
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"Init JointModelComposite from a joint and a placement" |
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) |
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.add_property("joints",&JointModelComposite::joints) |
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.add_property("jointPlacements",&JointModelComposite::jointPlacements) |
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.add_property("njoints",&JointModelComposite::njoints) |
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.def("addJoint", |
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&addJoint_proxy, |
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addJoint_proxy_overloads(bp::args("self","joint_model","joint_placement"), |
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"Add a joint to the vector of joints." |
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)[bp::return_internal_reference<>()] |
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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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} // namespace python |
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} // namespace pinocchio |
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#endif // ifndef __pinocchio_python_joint_models_hpp__ |