GCC Code Coverage Report
Directory: ./ Exec Total Coverage
File: bindings/python/math/utils.cpp Lines: 6 14 42.9 %
Date: 2023-11-10 01:09:11 Branches: 4 16 25.0 %

Line Branch Exec Source
1
//
2
// Copyright (c) 2022 INRIA
3
//
4
// This file is part of tsid
5
// tsid is free software: you can redistribute it
6
// and/or modify it under the terms of the GNU Lesser General Public
7
// License as published by the Free Software Foundation, either version
8
// 3 of the License, or (at your option) any later version.
9
// tsid is distributed in the hope that it will be
10
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
11
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12
// General Lesser Public License for more details. You should have
13
// received a copy of the GNU Lesser General Public License along with
14
// tsid If not, see
15
// <http://www.gnu.org/licenses/>.
16
//
17
18
#include "tsid/bindings/python/fwd.hpp"
19
#include <pinocchio/bindings/python/utils/deprecation.hpp>
20
#include "tsid/bindings/python/math/utils.hpp"
21
#include "tsid/math/utils.hpp"
22
23
namespace tsid {
24
namespace python {
25
static math::Vector SE3ToVector_1(const pinocchio::SE3& M) {
26
  math::Vector res(12);
27
  math::SE3ToVector(M, res);
28
  return res;
29
}
30
31
static pinocchio::SE3 vectorToSE3_1(math::RefVector vec) {
32
  pinocchio::SE3 res;
33
  math::vectorToSE3(vec, res);
34
  return res;
35
}
36
37
7
void exposeMathUtils() {
38
  namespace bp = boost::python;
39
  using namespace math;
40
41
7
  bp::def("SE3ToVector", &SE3ToVector, bp::args("M", "vec"),
42
          "Convert the input SE3 object M to a 12D vector of floats "
43
          "[X,Y,Z,R11,R12,R13,R14,...] vec");
44
7
  bp::def("SE3ToVector", &SE3ToVector_1, bp::args("M"),
45
          "Convert the input SE3 object M to a 12D vector of floats "
46
          "[X,Y,Z,R11,R12,R13,R14,...] and return the vector");
47
7
  bp::def("vectorToSE3", &vectorToSE3, bp::args("vec", "M"),
48
          "Convert the input 12D vector of floats [X,Y,Z,R11,R12,R13,R14,...] "
49
          "vec to a SE3 object M");
50
7
  bp::def("vectorToSE3", &vectorToSE3_1, bp::args("vec"),
51
          "Convert the input 12D vector of floats [X,Y,Z,R11,R12,R13,R14,...] "
52
          "vec to a SE3 object and return the SE3 object");
53
7
}
54
}  // namespace python
55
}  // namespace tsid