| Directory: | ./ |
|---|---|
| File: | include/pinocchio/bindings/python/multibody/joint/joints-datas.hpp |
| Date: | 2025-02-12 21:03:38 |
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| Lines: | 22 | 22 | 100.0% |
| Branches: | 12 | 24 | 50.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2019-2020 CNRS INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef __pinocchio_python_joints_datas_hpp__ | ||
| 6 | #define __pinocchio_python_joints_datas_hpp__ | ||
| 7 | |||
| 8 | namespace pinocchio | ||
| 9 | { | ||
| 10 | namespace python | ||
| 11 | { | ||
| 12 | namespace bp = boost::python; | ||
| 13 | |||
| 14 | // generic expose_joint_data : do nothing special | ||
| 15 | template<class T> | ||
| 16 | 2704 | inline bp::class_<T> & expose_joint_data(bp::class_<T> & cl) | |
| 17 | { | ||
| 18 | 2704 | return cl; | |
| 19 | } | ||
| 20 | |||
| 21 | // specialization for JointDataRevoluteUnaligned | ||
| 22 | template<> | ||
| 23 | inline bp::class_<JointDataRevoluteUnaligned> & | ||
| 24 | 65 | expose_joint_data<JointDataRevoluteUnaligned>(bp::class_<JointDataRevoluteUnaligned> & cl) | |
| 25 | { | ||
| 26 |
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65 | return cl.def(bp::init<const Eigen::Vector3d &>( |
| 27 | 130 | bp::args("axis"), "Init JointDataRevoluteUnaligned from an axis with x-y-z components")); | |
| 28 | } | ||
| 29 | |||
| 30 | // specialization for JointDataPrismaticUnaligned | ||
| 31 | template<> | ||
| 32 | inline bp::class_<JointDataPrismaticUnaligned> & | ||
| 33 | 65 | expose_joint_data<JointDataPrismaticUnaligned>(bp::class_<JointDataPrismaticUnaligned> & cl) | |
| 34 | { | ||
| 35 |
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65 | return cl.def(bp::init<const Eigen::Vector3d &>( |
| 36 | 130 | bp::args("axis"), "Init JointDataPrismaticUnaligned from an axis with x-y-z components")); | |
| 37 | } | ||
| 38 | |||
| 39 | // specialization for JointDataHelicalUnaligned | ||
| 40 | template<> | ||
| 41 | inline bp::class_<JointDataHelicalUnaligned> & | ||
| 42 | 65 | expose_joint_data<JointDataHelicalUnaligned>(bp::class_<JointDataHelicalUnaligned> & cl) | |
| 43 | { | ||
| 44 |
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65 | return cl.def(bp::init<const Eigen::Vector3d &>( |
| 45 | 130 | bp::args("axis"), "Init JointDataHelicalUnaligned from an axis with x-y-z components")); | |
| 46 | } | ||
| 47 | |||
| 48 | template<> | ||
| 49 | inline bp::class_<JointDataPlanar> & | ||
| 50 | 65 | expose_joint_data<JointDataPlanar>(bp::class_<JointDataPlanar> & cl) | |
| 51 | { | ||
| 52 | 65 | return cl.add_property("StU", &JointDataPlanar::StU); | |
| 53 | } | ||
| 54 | |||
| 55 | template<> | ||
| 56 | inline bp::class_<JointDataSphericalZYX> & | ||
| 57 | 65 | expose_joint_data<JointDataSphericalZYX>(bp::class_<JointDataSphericalZYX> & cl) | |
| 58 | { | ||
| 59 | 65 | return cl.add_property("StU", &JointDataSphericalZYX::StU); | |
| 60 | } | ||
| 61 | |||
| 62 | template<> | ||
| 63 | inline bp::class_<JointDataComposite> & | ||
| 64 | 65 | expose_joint_data<JointDataComposite>(bp::class_<JointDataComposite> & cl) | |
| 65 | { | ||
| 66 | return cl | ||
| 67 |
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65 | .def(bp::init<const JointDataComposite::JointDataVector &, const int, const int>( |
| 68 | 130 | bp::args("joint_data_vectors", "nq", "nv"), | |
| 69 | "Init JointDataComposite from a given collection of joint data")) | ||
| 70 |
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65 | .add_property("joints", &JointDataComposite::joints) |
| 71 |
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65 | .add_property("iMlast", &JointDataComposite::iMlast) |
| 72 |
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65 | .add_property("pjMi", &JointDataComposite::pjMi) |
| 73 |
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130 | .add_property("StU", &JointDataComposite::StU); |
| 74 | } | ||
| 75 | |||
| 76 | } // namespace python | ||
| 77 | } // namespace pinocchio | ||
| 78 | |||
| 79 | #endif // ifndef __pinocchio_python_joint_datas_hpp__ | ||
| 80 |