Directory: | ./ |
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File: | include/pinocchio/bindings/python/multibody/joint/joint-derived.hpp |
Date: | 2024-08-27 18:20:05 |
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1 | // | ||
2 | // Copyright (c) 2015-2021 CNRS INRIA | ||
3 | // | ||
4 | |||
5 | #ifndef __pinocchio_python_multibody_joint_joint_base_hpp__ | ||
6 | #define __pinocchio_python_multibody_joint_joint_base_hpp__ | ||
7 | |||
8 | #include <boost/python.hpp> | ||
9 | #include <eigenpy/exception.hpp> | ||
10 | |||
11 | #include "pinocchio/bindings/python/fwd.hpp" | ||
12 | #include "pinocchio/multibody/joint/joint-collection.hpp" | ||
13 | |||
14 | namespace pinocchio | ||
15 | { | ||
16 | namespace python | ||
17 | { | ||
18 | namespace bp = boost::python; | ||
19 | |||
20 | template<class JointModelDerived> | ||
21 | struct JointModelBasePythonVisitor | ||
22 | : public boost::python::def_visitor<JointModelBasePythonVisitor<JointModelDerived>> | ||
23 | { | ||
24 | public: | ||
25 | typedef typename JointModelDerived::JointDataDerived JointDataDerived; | ||
26 | |||
27 | template<class PyClass> | ||
28 | 1080 | void visit(PyClass & cl) const | |
29 | { | ||
30 |
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1080 | cl.def(bp::init<>(bp::arg("self"))) |
31 | // All are add_properties cause ReadOnly | ||
32 |
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1080 | .add_property("id", &get_id) |
33 |
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1080 | .add_property("idx_q", &get_idx_q) |
34 |
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1080 | .add_property("idx_v", &get_idx_v) |
35 |
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1080 | .add_property("nq", &get_nq) |
36 |
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1080 | .add_property("nv", &get_nv) |
37 | 2160 | .add_property( | |
38 | "hasConfigurationLimit", &JointModelDerived::hasConfigurationLimit, | ||
39 | "Return vector of boolean if joint has configuration limits.") | ||
40 |
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1080 | .add_property( |
41 | "hasConfigurationLimitInTangent", &JointModelDerived::hasConfigurationLimitInTangent, | ||
42 | "Return vector of boolean if joint has configuration limits in tangent space.") | ||
43 |
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2160 | .def( |
44 | "setIndexes", &JointModelDerived::setIndexes, | ||
45 | bp::args("self", "joint_id", "idx_q", "idx_v")) | ||
46 |
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1080 | .def("classname", &JointModelDerived::classname) |
47 |
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1080 | .staticmethod("classname") |
48 |
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2160 | .def("calc", &calc0, bp::args("self", "jdata", "q")) |
49 |
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2160 | .def("calc", &calc1, bp::args("self", "jdata", "q", "v")) |
50 | 2160 | .def( | |
51 |
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2160 | "createData", &JointModelDerived::createData, bp::arg("self"), |
52 | "Create data associated to the joint model.") | ||
53 |
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2160 | .def( |
54 | "hasSameIndexes", &JointModelDerived::template hasSameIndexes<JointModelDerived>, | ||
55 | bp::args("self", "other"), "Check if this has same indexes than other.") | ||
56 |
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1080 | .def( |
57 |
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2160 | "shortname", &JointModelDerived::shortname, bp::arg("self"), |
58 | "Returns string indicating the joint type (class name):" | ||
59 | "\n\t- JointModelR[*]: Revolute Joint, with rotation axis [*] ∈ [X,Y,Z]" | ||
60 | "\n\t- JointModelRevoluteUnaligned: Revolute Joint, with rotation axis not aligned " | ||
61 | "with X, Y, nor Z" | ||
62 | "\n\t- JointModelRUB[*]: Unbounded revolute Joint (without position limits), with " | ||
63 | "rotation axis [*] ∈ [X,Y,Z]" | ||
64 | "\n\t- JointModelRevoluteUnboundedUnaligned: Unbounded revolute Joint, with " | ||
65 | "rotation axis not aligned with X, Y, nor Z" | ||
66 | "\n\t- JointModelP[*]: Prismatic Joint, with rotation axis [*] ∈ [X,Y,Z]" | ||
67 | "\n\t- JointModelPlanar: Planar joint" | ||
68 | "\n\t- JointModelPrismaticUnaligned: Prismatic joint, with translation axis not " | ||
69 | "aligned with X, Y, nor Z" | ||
70 | "\n\t- JointModelSphericalZYX: Spherical joint (3D rotation)" | ||
71 | "\n\t- JointModelTranslation: Translation joint (3D translation)" | ||
72 | "\n\t- JointModelFreeFlyer: Joint enabling 3D rotation and translations.") | ||
73 | |||
74 | #ifndef PINOCCHIO_PYTHON_SKIP_COMPARISON_OPERATIONS | ||
75 |
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1080 | .def(bp::self == bp::self) |
76 |
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1080 | .def(bp::self != bp::self) |
77 | #endif | ||
78 | ; | ||
79 | 1080 | } | |
80 | |||
81 | 44 | static JointIndex get_id(const JointModelDerived & self) | |
82 | { | ||
83 | 44 | return self.id(); | |
84 | } | ||
85 | ✗ | static int get_idx_q(const JointModelDerived & self) | |
86 | { | ||
87 | ✗ | return self.idx_q(); | |
88 | } | ||
89 | ✗ | static int get_idx_v(const JointModelDerived & self) | |
90 | { | ||
91 | ✗ | return self.idx_v(); | |
92 | } | ||
93 | ✗ | static int get_nq(const JointModelDerived & self) | |
94 | { | ||
95 | ✗ | return self.nq(); | |
96 | } | ||
97 | ✗ | static int get_nv(const JointModelDerived & self) | |
98 | { | ||
99 | ✗ | return self.nv(); | |
100 | } | ||
101 | static void | ||
102 | ✗ | calc0(const JointModelDerived & self, JointDataDerived & jdata, const context::VectorXs & q) | |
103 | { | ||
104 | ✗ | self.calc(jdata, q); | |
105 | } | ||
106 | ✗ | static void calc1( | |
107 | const JointModelDerived & self, | ||
108 | JointDataDerived & jdata, | ||
109 | const context::VectorXs & q, | ||
110 | const context::VectorXs & v) | ||
111 | { | ||
112 | ✗ | self.calc(jdata, q, v); | |
113 | } | ||
114 | }; | ||
115 | |||
116 | template<class JointDataDerived> | ||
117 | struct JointDataBasePythonVisitor | ||
118 | : public boost::python::def_visitor<JointDataBasePythonVisitor<JointDataDerived>> | ||
119 | { | ||
120 | public: | ||
121 | template<class PyClass> | ||
122 | 1080 | void visit(PyClass & cl) const | |
123 | { | ||
124 | cl | ||
125 | // All are add_properties cause ReadOnly | ||
126 | 1080 | .add_property("joint_q", &get_joint_q) | |
127 | 1080 | .add_property("joint_v", &get_joint_v) | |
128 | 1080 | .add_property("S", &get_S) | |
129 | 1080 | .add_property("M", &get_M) | |
130 | 1080 | .add_property("v", &get_v) | |
131 | 1080 | .add_property("c", &get_c) | |
132 | 1080 | .add_property("U", &get_U) | |
133 | 1080 | .add_property("Dinv", &get_Dinv) | |
134 | 1080 | .add_property("UDinv", &get_UDinv) | |
135 | 1080 | .def("shortname", &JointDataDerived::shortname, bp::arg("self")) | |
136 | |||
137 | #ifndef PINOCCHIO_PYTHON_SKIP_COMPARISON_OPERATIONS | ||
138 |
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1080 | .def(bp::self == bp::self) |
139 |
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1080 | .def(bp::self != bp::self) |
140 | #endif | ||
141 | ; | ||
142 | 1080 | } | |
143 | |||
144 | ✗ | static typename JointDataDerived::ConfigVector_t get_joint_q(const JointDataDerived & self) | |
145 | { | ||
146 | ✗ | return self.joint_q_accessor(); | |
147 | } | ||
148 | ✗ | static typename JointDataDerived::TangentVector_t get_joint_v(const JointDataDerived & self) | |
149 | { | ||
150 | ✗ | return self.joint_v_accessor(); | |
151 | } | ||
152 | // static typename JointDataDerived::Constraint_t get_S(const JointDataDerived & self) | ||
153 | // { return self.S_accessor(); } | ||
154 | ✗ | static typename JointDataDerived::Constraint_t::DenseBase get_S(const JointDataDerived & self) | |
155 | { | ||
156 | ✗ | return self.S_accessor().matrix(); | |
157 | } | ||
158 | ✗ | static typename JointDataDerived::Transformation_t get_M(const JointDataDerived & self) | |
159 | { | ||
160 | ✗ | return self.M_accessor(); | |
161 | } | ||
162 | ✗ | static typename JointDataDerived::Motion_t get_v(const JointDataDerived & self) | |
163 | { | ||
164 | ✗ | return self.v_accessor(); | |
165 | } | ||
166 | ✗ | static typename JointDataDerived::Bias_t get_c(const JointDataDerived & self) | |
167 | { | ||
168 | ✗ | return self.c_accessor(); | |
169 | } | ||
170 | ✗ | static typename JointDataDerived::U_t get_U(const JointDataDerived & self) | |
171 | { | ||
172 | ✗ | return self.U_accessor(); | |
173 | } | ||
174 | ✗ | static typename JointDataDerived::D_t get_Dinv(const JointDataDerived & self) | |
175 | { | ||
176 | ✗ | return self.Dinv_accessor(); | |
177 | } | ||
178 | static typename JointDataDerived::UD_t get_UDinv(const JointDataDerived & self) | ||
179 | { | ||
180 | ✗ | return self.UDinv_accessor(); | |
181 | } | ||
182 | |||
183 | static void expose() | ||
184 | { | ||
185 | } | ||
186 | }; | ||
187 | |||
188 | } // namespace python | ||
189 | } // namespace pinocchio | ||
190 | |||
191 | #endif // ifndef __pinocchio_python_multibody_joint_joint_base_hpp__ | ||
192 |