GCC Code Coverage Report

Directory: ./
File: include/pinocchio/bindings/python/spatial/inertia.hpp
Date: 2025-02-12 21:03:38
Exec Total Coverage
Lines: 211 226 93.4%
Branches: 287 577 49.7%
Line Branch Exec Source
1 //
2 // Copyright (c) 2015-2024 CNRS INRIA
3 // Copyright (c) 2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
4 //
5
6 #ifndef __pinocchio_python_spatial_inertia_hpp__
7 #define __pinocchio_python_spatial_inertia_hpp__
8
9 #include <eigenpy/exception.hpp>
10 #include <eigenpy/eigenpy.hpp>
11 #include <eigenpy/memory.hpp>
12 #include <boost/python/tuple.hpp>
13
14 #include "pinocchio/spatial/inertia.hpp"
15
16 #include "pinocchio/bindings/python/utils/cast.hpp"
17 #include "pinocchio/bindings/python/utils/copyable.hpp"
18 #include "pinocchio/bindings/python/utils/printable.hpp"
19
20 #if EIGENPY_VERSION_AT_MOST(2, 8, 1)
21 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::Inertia)
22 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::PseudoInertiaTpl)
23 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::LogCholeskyParametersTpl)
24 #endif
25
26 namespace pinocchio
27 {
28 namespace python
29 {
30 namespace bp = boost::python;
31
32 template<typename Inertia>
33 struct InertiaPythonVisitor : public boost::python::def_visitor<InertiaPythonVisitor<Inertia>>
34 {
35 enum
36 {
37 Options = Inertia::Options
38 };
39 typedef typename Inertia::Scalar Scalar;
40 typedef typename Inertia::Vector3 Vector3;
41 typedef typename Inertia::Matrix3 Matrix3;
42 typedef typename Inertia::Vector6 Vector6;
43 typedef typename Inertia::Matrix6 Matrix6;
44
45 typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> VectorXs;
46 typedef MotionTpl<Scalar, Options> Motion;
47 typedef ForceTpl<Scalar, Options> Force;
48
49 public:
50 template<class PyClass>
51 69 void visit(PyClass & cl) const
52 {
53
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 4 static const Scalar dummy_precision = Eigen::NumTraits<Scalar>::dummy_precision();
54
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 69 cl.def(
55 "__init__",
56 bp::make_constructor(
57 69 &InertiaPythonVisitor::makeFromMCI, bp::default_call_policies(),
58 bp::args("mass", "lever", "inertia")),
59 "Initialize from mass, lever and 3d inertia.")
60
61
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 138 .def(bp::init<>(bp::arg("self"), "Default constructor."))
62
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 138 .def(bp::init<const Inertia &>((bp::arg("self"), bp::arg("clone")), "Copy constructor"))
63
64
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 69 .add_property(
65 "mass", &InertiaPythonVisitor::getMass, &InertiaPythonVisitor::setMass,
66 "Mass of the Spatial Inertia.")
67
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 69 .add_property(
68 "lever",
69 bp::make_function(
70 (typename Inertia::Vector3 & (Inertia::*)()) & Inertia::lever,
71 69 bp::return_internal_reference<>()),
72 &InertiaPythonVisitor::setLever,
73 "Center of mass location of the Spatial Inertia. It corresponds to the location of the "
74 "center of mass regarding to the frame where the Spatial Inertia is expressed.")
75
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 69 .add_property(
76 "inertia", &InertiaPythonVisitor::getInertia, &InertiaPythonVisitor::setInertia,
77 "Rotational part of the Spatial Inertia, i.e. a symmetric matrix "
78 "representing the rotational inertia around the center of mass.")
79
80
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 138 .def("matrix", (Matrix6(Inertia::*)() const)&Inertia::matrix, bp::arg("self"))
81
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 138 .def("inverse", (Matrix6(Inertia::*)() const)&Inertia::inverse, bp::arg("self"))
82
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 138 .def(
83 "se3Action", &Inertia::template se3Action<Scalar, Options>, bp::args("self", "M"),
84 "Returns the result of the action of M on *this.")
85
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 138 .def(
86 "se3ActionInverse", &Inertia::template se3ActionInverse<Scalar, Options>,
87 bp::args("self", "M"), "Returns the result of the action of the inverse of M on *this.")
88
89
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 69 .def(
90
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 138 "setIdentity", &Inertia::setIdentity, bp::arg("self"),
91 "Set *this to be the Identity inertia.")
92
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 69 .def(
93
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 138 "setZero", &Inertia::setZero, bp::arg("self"),
94 "Set all the components of *this to zero.")
95
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 69 .def(
96
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 138 "setRandom", &Inertia::setRandom, bp::arg("self"),
97 "Set all the components of *this to random values.")
98
99
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 69 .def(bp::self + bp::self)
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 69 .def(bp::self += bp::self)
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 69 .def(bp::self -= bp::self)
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 69 .def(bp::self * bp::other<Motion>())
104
105 138 .add_property("np", (Matrix6(Inertia::*)() const)&Inertia::matrix)
106
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 138 .def(
107 "vxiv", &Inertia::template vxiv<Motion>, bp::args("self", "v"),
108 "Returns the result of v x Iv.")
109
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 138 .def(
110 "vtiv", &Inertia::template vtiv<Motion>, bp::args("self", "v"),
111 "Returns the result of v.T * Iv.")
112
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 138 .def(
113 "vxi",
114 (Matrix6(Inertia::*)(const MotionDense<Motion> &) const)&Inertia::template vxi<Motion>,
115 bp::args("self", "v"), "Returns the result of v x* I, a 6x6 matrix.")
116
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 138 .def(
117 "ivx",
118 (Matrix6(Inertia::*)(const MotionDense<Motion> &) const)&Inertia::template ivx<Motion>,
119 bp::args("self", "v"), "Returns the result of I vx, a 6x6 matrix.")
120
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 138 .def(
121 "variation",
122 (Matrix6(Inertia::*)(const MotionDense<Motion> &)
123 const)&Inertia::template variation<Motion>,
124 bp::args("self", "v"), "Returns the time derivative of the inertia.")
125
126 #ifndef PINOCCHIO_PYTHON_SKIP_COMPARISON_OPERATIONS
127
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 65 .def(bp::self == bp::self)
128
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 65 .def(bp::self != bp::self)
129 #endif
130
131 #ifndef PINOCCHIO_PYTHON_SKIP_COMPARISON_OPERATIONS
132
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 65 .def(
133 "isApprox", &Inertia::isApprox,
134
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 195 (bp::arg("self"), bp::arg("other"), bp::arg("prec") = dummy_precision),
135 "Returns true if *this is approximately equal to other, within the precision given "
136 "by prec.")
137
138
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 65 .def(
139
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 130 "isZero", &Inertia::isZero, (bp::arg("self"), bp::arg("prec") = dummy_precision),
140 "Returns true if *this is approximately equal to the zero Inertia, within the "
141 "precision given by prec.")
142 #endif
143
144
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 69 .def("Identity", &Inertia::Identity, "Returns the identity Inertia.")
145
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 69 .staticmethod("Identity")
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 69 .def("Zero", &Inertia::Zero, "Returns the zero Inertia.")
147
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 69 .staticmethod("Zero")
148
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 69 .def("Random", &Inertia::Random, "Returns a random Inertia.")
149
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 69 .staticmethod("Random")
150
151
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 69 .def(
152 "toDynamicParameters", &InertiaPythonVisitor::toDynamicParameters_proxy,
153
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 138 bp::arg("self"),
154 "Returns the representation of the matrix as a vector of dynamic parameters."
155 "\nThe parameters are given as v = [m, mc_x, mc_y, mc_z, I_{xx}, I_{xy}, I_{yy}, "
156 "I_{xz}, I_{yz}, I_{zz}]^T "
157 "where I = I_C + mS^T(c)S(c) and I_C has its origin at the barycenter")
158
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 138 .def(
159 "FromDynamicParameters", &InertiaPythonVisitor::fromDynamicParameters_proxy,
160 bp::args("dynamic_parameters"),
161 "Builds and inertia matrix from a vector of dynamic parameters."
162 "\nThe parameters are given as dynamic_parameters = [m, mc_x, mc_y, mc_z, I_{xx}, "
163 "I_{xy}, I_{yy}, I_{xz}, I_{yz}, I_{zz}]^T "
164 "where I = I_C + mS^T(c)S(c) and I_C has its origin at the barycenter.")
165
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 69 .staticmethod("FromDynamicParameters")
166
167
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 138 .def(
168 "FromSphere", &Inertia::FromSphere, bp::args("mass", "radius"),
169 "Returns the Inertia of a sphere defined by a given mass and radius.")
170
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 69 .staticmethod("FromSphere")
171
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 138 .def(
172 "FromEllipsoid", &Inertia::FromEllipsoid,
173 bp::args("mass", "length_x", "length_y", "length_z"),
174 "Returns the Inertia of an ellipsoid shape defined by a mass and given dimensions "
175 "the semi-axis of values length_{x,y,z}.")
176
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 69 .staticmethod("FromEllipsoid")
177
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 138 .def(
178 "FromCylinder", &Inertia::FromCylinder, bp::args("mass", "radius", "length"),
179 "Returns the Inertia of a cylinder defined by its mass, radius and length along the "
180 "Z axis.")
181
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182
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 138 .def(
183 "FromBox", &Inertia::FromBox, bp::args("mass", "length_x", "length_y", "length_z"),
184 "Returns the Inertia of a box shape with a mass and of dimension the semi axis of "
185 "length_{x,y,z}.")
186
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187
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 138 .def(
188 "FromCapsule", &Inertia::FromCapsule, bp::args("mass", "radius", "height"),
189 "Computes the Inertia of a capsule defined by its mass, radius and length along the "
190 "Z axis. Assumes a uniform density.")
191
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 69 .staticmethod("FromCapsule")
192
193
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 138 .def(
194 "FromPseudoInertia", &Inertia::FromPseudoInertia, bp::args("pseudo_inertia"),
195 "Returns the Inertia created from a pseudo inertia object.")
196
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 69 .staticmethod("FromPseudoInertia")
197
198 138 .def(
199
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 138 "toPseudoInertia", &Inertia::toPseudoInertia, bp::arg("self"),
200 "Returns the pseudo inertia representation of the inertia.")
201
202
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 138 .def(
203 "FromLogCholeskyParameters", &Inertia::FromLogCholeskyParameters,
204 bp::args("log_cholesky_parameters"),
205 "Returns the Inertia created from log Cholesky parameters.")
206
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 69 .staticmethod("FromLogCholeskyParameters")
207
208 138 .def("__array__", (Matrix6(Inertia::*)() const)&Inertia::matrix)
209
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210 "__array__", &__array__,
211
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 138 (bp::arg("self"), bp::arg("dtype") = bp::object(), bp::arg("copy") = bp::object()))
212 #ifndef PINOCCHIO_PYTHON_NO_SERIALIZATION
213
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 65 .def_pickle(Pickle())
214 #endif
215 ;
216 69 }
217
218 92 static Scalar getMass(const Inertia & self)
219 {
220 92 return self.mass();
221 }
222 1 static void setMass(Inertia & self, Scalar mass)
223 {
224 1 self.mass() = mass;
225 1 }
226
227 1 static void setLever(Inertia & self, const Vector3 & lever)
228 {
229 1 self.lever() = lever;
230 1 }
231
232 7 static Matrix3 getInertia(const Inertia & self)
233 {
234 7 return self.inertia().matrix();
235 }
236 // static void setInertia(Inertia & self, const Vector6 & minimal_inertia) {
237 // self.inertia().data() = minimal_inertia; }
238 1 static void setInertia(Inertia & self, const Matrix3 & symmetric_inertia)
239 {
240 2 if (!check_expression_if_real<Scalar>(
241
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 1 isZero(symmetric_inertia - symmetric_inertia.transpose())))
242 ✗ throw eigenpy::Exception("The 3d inertia should be symmetric.");
243
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 2 self.inertia().data() << symmetric_inertia(0, 0), symmetric_inertia(1, 0),
244
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 1 symmetric_inertia(1, 1), symmetric_inertia(0, 2), symmetric_inertia(1, 2),
245
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 1 symmetric_inertia(2, 2);
246 1 }
247
248 32 static VectorXs toDynamicParameters_proxy(const Inertia & self)
249 {
250
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 32 return self.toDynamicParameters();
251 }
252
253 2 static Inertia fromDynamicParameters_proxy(const VectorXs & params)
254 {
255
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 2 if (params.rows() != 10 || params.cols() != 1)
256 {
257
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 1 std::ostringstream shape;
258
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 1 shape << "(" << params.rows() << ", " << params.cols() << ")";
259
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 1 throw std::invalid_argument(
260 "Wrong size: params" + shape.str() + " but should have the following shape (10, 1)");
261 1 }
262 1 return Inertia::FromDynamicParameters(params);
263 }
264
265 static Inertia *
266 2 makeFromMCI(const Scalar & mass, const Vector3 & lever, const Matrix3 & inertia)
267 {
268 #ifndef PINOCCHIO_PYTHON_SKIP_COMPARISON_OPERATIONS
269
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 2 if (!inertia.isApprox(inertia.transpose()))
270 ✗ throw eigenpy::Exception("The 3d inertia should be symmetric.");
271 2 if (
272
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 2 (Vector3::UnitX().transpose() * inertia * Vector3::UnitX() < 0)
273
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 2 || (Vector3::UnitY().transpose() * inertia * Vector3::UnitY() < 0)
274
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 4 || (Vector3::UnitZ().transpose() * inertia * Vector3::UnitZ() < 0))
275 ✗ throw eigenpy::Exception("The 3d inertia should be positive.");
276 #endif
277
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 2 return new Inertia(mass, lever, inertia);
278 }
279
280 69 static void expose()
281 {
282 #if PY_MAJOR_VERSION == 3 && PY_MINOR_VERSION == 6 && EIGENPY_VERSION_AT_LEAST(2, 9, 0)
283 typedef PINOCCHIO_SHARED_PTR_HOLDER_TYPE(Inertia) HolderType;
284 #else
285 typedef ::boost::python::detail::not_specified HolderType;
286 #endif
287 69 bp::class_<Inertia, HolderType>(
288 "Inertia",
289 "This class represenses a sparse version of a Spatial Inertia and its is defined by its "
290 "mass, its center of mass location and the rotational inertia expressed around this "
291 "center of mass.\n\n"
292 "Supported operations ...",
293 bp::no_init)
294
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 69 .def(InertiaPythonVisitor<Inertia>())
295
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 69 .def(PrintableVisitor<Inertia>());
299 69 }
300
301 private:
302 1 static Matrix6 __array__(const Inertia & self, bp::object, bp::object)
303 {
304 1 return self.matrix();
305 }
306
307 struct Pickle : bp::pickle_suite
308 {
309 1 static boost::python::tuple getinitargs(const Inertia & I)
310 {
311
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 2 return bp::make_tuple(I.mass(), (Vector3)I.lever(), I.inertia().matrix());
312 }
313
314 65 static bool getstate_manages_dict()
315 {
316 65 return true;
317 }
318 };
319
320 }; // struct InertiaPythonVisitor
321
322 template<typename PseudoInertia>
323 struct PseudoInertiaPythonVisitor
324 : public boost::python::def_visitor<PseudoInertiaPythonVisitor<PseudoInertia>>
325 {
326 enum
327 {
328 Options = PseudoInertia::Options
329 };
330 typedef typename PseudoInertia::Scalar Scalar;
331 typedef typename PseudoInertia::Vector3 Vector3;
332 typedef typename PseudoInertia::Matrix3 Matrix3;
333 typedef typename PseudoInertia::Vector10 Vector10;
334 typedef typename PseudoInertia::Matrix4 Matrix4;
335 typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> VectorXs;
336
337 public:
338 template<class PyClass>
339 69 void visit(PyClass & cl) const
340 {
341
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 207 cl.def(bp::init<const Scalar &, const Vector3 &, const Matrix3 &>(
342
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 276 (bp::arg("self"), bp::arg("mass"), bp::arg("h"), bp::arg("sigma")),
343 "Initialize from mass, vector part of the pseudo inertia and matrix part of the "
344 "pseudo inertia."))
345
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346
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347
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348 "mass", &PseudoInertiaPythonVisitor::getMass, &PseudoInertiaPythonVisitor::setMass,
349 "Mass of the Pseudo Inertia.")
350
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351 "h", &PseudoInertiaPythonVisitor::getH, &PseudoInertiaPythonVisitor::setH,
352 "Vector part of the Pseudo Inertia.")
353
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 69 .add_property(
354 "sigma", &PseudoInertiaPythonVisitor::getSigma, &PseudoInertiaPythonVisitor::setSigma,
355 "Matrix part of the Pseudo Inertia.")
356
357 138 .def(
358
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 138 "toMatrix", &PseudoInertia::toMatrix, bp::arg("self"),
359 "Returns the pseudo inertia as a 4x4 matrix.")
360
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361 "toDynamicParameters", &PseudoInertiaPythonVisitor::toDynamicParameters_proxy,
362
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 138 bp::arg("self"), "Returns the dynamic parameters representation.")
363 138 .def(
364
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 138 "toInertia", &PseudoInertia::toInertia, bp::arg("self"),
365 "Returns the inertia representation.")
366
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 138 .def(
367 "FromDynamicParameters", &PseudoInertiaPythonVisitor::fromDynamicParameters_proxy,
368 bp::args("dynamic_parameters"),
369 "Builds a pseudo inertia matrix from a vector of dynamic parameters."
370 "\nThe parameters are given as dynamic_parameters = [m, h_x, h_y, h_z, I_{xx}, "
371 "I_{xy}, I_{yy}, I_{xz}, I_{yz}, I_{zz}]^T.")
372
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 69 .staticmethod("FromDynamicParameters")
373
374
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 138 .def(
375 "FromMatrix", &PseudoInertia::FromMatrix, bp::args("pseudo_inertia_matrix"),
376 "Returns the Pseudo Inertia from a 4x4 matrix.")
377
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378
379
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380 "FromInertia", &PseudoInertia::FromInertia, bp::args("inertia"),
381 "Returns the Pseudo Inertia from an Inertia object.")
382
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383
384 138 .def("__array__", &PseudoInertia::toMatrix)
385
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386 "__array__", &__array__,
387
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 138 (bp::arg("self"), bp::arg("dtype") = bp::object(), bp::arg("copy") = bp::object()))
388 #ifndef PINOCCHIO_PYTHON_NO_SERIALIZATION
389
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 65 .def_pickle(Pickle())
390 #endif
391 ;
392 69 }
393
394 9 static Scalar getMass(const PseudoInertia & self)
395 {
396 9 return self.mass;
397 }
398 ✗ static void setMass(PseudoInertia & self, Scalar mass)
399 {
400 ✗ self.mass = mass;
401 }
402
403 9 static Vector3 getH(const PseudoInertia & self)
404 {
405 9 return self.h;
406 }
407 ✗ static void setH(PseudoInertia & self, const Vector3 & h)
408 {
409 ✗ self.h = h;
410 }
411
412 9 static Matrix3 getSigma(const PseudoInertia & self)
413 {
414 9 return self.sigma;
415 }
416 ✗ static void setSigma(PseudoInertia & self, const Matrix3 & sigma)
417 {
418 ✗ self.sigma = sigma;
419 }
420
421 1 static VectorXs toDynamicParameters_proxy(const PseudoInertia & self)
422 {
423
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 1 return self.toDynamicParameters();
424 }
425
426 2 static PseudoInertia fromDynamicParameters_proxy(const VectorXs & params)
427 {
428
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 2 if (params.rows() != 10 || params.cols() != 1)
429 {
430
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 1 std::ostringstream shape;
431
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 1 shape << "(" << params.rows() << ", " << params.cols() << ")";
432
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 1 throw std::invalid_argument(
433 "Wrong size: params" + shape.str() + " but should have the following shape (10, 1)");
434 1 }
435 1 return PseudoInertia::FromDynamicParameters(params);
436 }
437
438 69 static void expose()
439 {
440 #if PY_MAJOR_VERSION == 3 && PY_MINOR_VERSION == 6 && EIGENPY_VERSION_AT_LEAST(2, 9, 0)
441 typedef PINOCCHIO_SHARED_PTR_HOLDER_TYPE(PseudoInertia) HolderType;
442 #else
443 typedef ::boost::python::detail::not_specified HolderType;
444 #endif
445 69 bp::class_<PseudoInertia, HolderType>(
446 "PseudoInertia",
447 "This class represents a pseudo inertia matrix and it is defined by its mass, vector "
448 "part, and 3x3 matrix part.\n\n"
449 "Supported operations ...",
450 bp::no_init)
451
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 69 .def(ExposeConstructorByCastVisitor<PseudoInertia, ::pinocchio::PseudoInertia>());
456 69 }
457
458 private:
459 1 static Matrix4 __array__(const PseudoInertia & self, bp::object, bp::object)
460 {
461 1 return self.toMatrix();
462 }
463
464 struct Pickle : bp::pickle_suite
465 {
466 ✗ static boost::python::tuple getinitargs(const PseudoInertia & pi)
467 {
468 ✗ return bp::make_tuple(pi.mass, pi.h, pi.sigma);
469 }
470
471 65 static bool getstate_manages_dict()
472 {
473 65 return true;
474 }
475 };
476
477 }; // struct PseudoInertiaPythonVisitor
478
479 template<typename LogCholeskyParameters>
480 struct LogCholeskyParametersPythonVisitor
481 : public boost::python::def_visitor<LogCholeskyParametersPythonVisitor<LogCholeskyParameters>>
482 {
483 enum
484 {
485 Options = LogCholeskyParameters::Options
486 };
487 typedef typename LogCholeskyParameters::Scalar Scalar;
488 typedef typename LogCholeskyParameters::Vector10 Vector10;
489 typedef typename LogCholeskyParameters::Matrix10 Matrix10;
490 typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options> VectorXs;
491 typedef Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Options> MatrixXs;
492
493 public:
494 template<class PyClass>
495 69 void visit(PyClass & cl) const
496 {
497
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 69 cl.def(
498 "__init__",
499 bp::make_constructor(
500 69 &LogCholeskyParametersPythonVisitor::makeFromParameters, bp::default_call_policies(),
501 bp::args("log_cholesky_parameters")),
502 "Initialize from log cholesky parameters.")
503
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504
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505
506
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 69 .add_property(
507 "parameters", &LogCholeskyParametersPythonVisitor::getParameters,
508 &LogCholeskyParametersPythonVisitor::setParameters, "Log Cholesky parameters.")
509
510
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511 "toDynamicParameters", &LogCholeskyParametersPythonVisitor::toDynamicParameters_proxy,
512
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 138 bp::arg("self"), "Returns the dynamic parameters representation.")
513 138 .def(
514
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515 "Returns the Pseudo Inertia representation.")
516
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517
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518 "Returns the Inertia representation.")
519
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520 "calculateJacobian", &LogCholeskyParametersPythonVisitor::calculateJacobian_proxy,
521
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 138 bp::arg("self"), "Calculates the Jacobian of the log Cholesky parameters.")
522
523
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525 "__array__", &__array__,
526
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 138 (bp::arg("self"), bp::arg("dtype") = bp::object(), bp::arg("copy") = bp::object()))
527 #ifndef PINOCCHIO_PYTHON_NO_SERIALIZATION
528
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529 #endif
530 ;
531 69 }
532
533 2 static LogCholeskyParameters * makeFromParameters(const VectorXs & params)
534 {
535
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536 {
537
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538
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 1 shape << "(" << params.rows() << ", " << params.cols() << ")";
539
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 1 throw std::invalid_argument(
540 "Wrong size: params" + shape.str() + " but should have the following shape (10, 1)");
541 1 }
542
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 1 return new LogCholeskyParameters(params);
543 }
544
545 2 static VectorXs getParameters(const LogCholeskyParameters & self)
546 {
547 2 return self.parameters;
548 }
549 ✗ static void setParameters(LogCholeskyParameters & self, const Vector10 & parameters)
550 {
551 ✗ self.parameters = parameters;
552 }
553
554 1 static VectorXs toDynamicParameters_proxy(const LogCholeskyParameters & self)
555 {
556
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 1 return self.toDynamicParameters();
557 }
558
559 1 static MatrixXs calculateJacobian_proxy(const LogCholeskyParameters & self)
560 {
561
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 1 return self.calculateJacobian();
562 }
563
564 69 static void expose()
565 {
566 #if PY_MAJOR_VERSION == 3 && PY_MINOR_VERSION == 6 && EIGENPY_VERSION_AT_LEAST(2, 9, 0)
567 typedef PINOCCHIO_SHARED_PTR_HOLDER_TYPE(LogCholeskyParameters) HolderType;
568 #else
569 typedef ::boost::python::detail::not_specified HolderType;
570 #endif
571 69 bp::class_<LogCholeskyParameters, HolderType>(
572 "LogCholeskyParameters",
573 "This class represents log Cholesky parameters.\n\n"
574 "Supported operations ...",
575 bp::no_init)
576
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577
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578
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580
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581 LogCholeskyParameters, ::pinocchio::LogCholeskyParameters>());
582 69 }
583
584 private:
585 1 static VectorXs __array__(const LogCholeskyParameters & self, bp::object, bp::object)
586 {
587 1 return self.parameters;
588 }
589
590 struct Pickle : bp::pickle_suite
591 {
592 ✗ static boost::python::tuple getinitargs(const LogCholeskyParameters & lcp)
593 {
594 ✗ return bp::make_tuple(lcp.parameters);
595 }
596
597 65 static bool getstate_manages_dict()
598 {
599 65 return true;
600 }
601 };
602
603 }; // struct LogCholeskyParametersPythonVisitor
604
605 } // namespace python
606 } // namespace pinocchio
607
608 #endif // ifndef __pinocchio_python_spatial_inertia_hpp__
609