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File: | include/tsid/bindings/python/trajectories/trajectory-base.hpp |
Date: | 2024-08-26 20:29:39 |
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1 | // | ||
2 | // Copyright (c) 2018 CNRS | ||
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 | #ifndef __tsid_python_traj_sample_hpp__ | ||
19 | #define __tsid_python_traj_sample_hpp__ | ||
20 | |||
21 | #include "tsid/bindings/python/fwd.hpp" | ||
22 | |||
23 | #include <tsid/math/utils.hpp> | ||
24 | #include "tsid/trajectories/trajectory-base.hpp" | ||
25 | |||
26 | #include <pinocchio/bindings/python/utils/deprecation.hpp> | ||
27 | #include <assert.h> | ||
28 | namespace tsid { | ||
29 | namespace python { | ||
30 | namespace bp = boost::python; | ||
31 | typedef pinocchio::SE3 SE3; | ||
32 | |||
33 | template <typename TrajSample> | ||
34 | struct TrajectorySamplePythonVisitor | ||
35 | : public boost::python::def_visitor< | ||
36 | TrajectorySamplePythonVisitor<TrajSample> > { | ||
37 | template <class PyClass> | ||
38 | |||
39 | 7 | void visit(PyClass& cl) const { | |
40 |
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7 | cl.def(bp::init<unsigned int>((bp::arg("size")), |
41 | "Default Constructor with size")) | ||
42 |
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7 | .def(bp::init<unsigned int, unsigned int>( |
43 |
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14 | (bp::arg("value_size"), bp::arg("derivative_size")), |
44 | "Default Constructor with value and derivative size")) | ||
45 | |||
46 |
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14 | .def("resize", &TrajectorySamplePythonVisitor::resize, bp::arg("size")) |
47 |
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14 | .def("resize", &TrajectorySamplePythonVisitor::resize2, |
48 | bp::args("value_size", "derivative_size")) | ||
49 | |||
50 |
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7 | .def("value", &TrajectorySamplePythonVisitor::value) |
51 |
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7 | .def("derivative", &TrajectorySamplePythonVisitor::derivative) |
52 |
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7 | .def("second_derivative", |
53 | &TrajectorySamplePythonVisitor::second_derivative) | ||
54 | |||
55 |
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7 | .def("value", &TrajectorySamplePythonVisitor::setvalue_vec) |
56 |
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7 | .def("value", &TrajectorySamplePythonVisitor::setvalue_se3) |
57 |
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7 | .def("derivative", &TrajectorySamplePythonVisitor::setderivative) |
58 |
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7 | .def("second_derivative", |
59 | &TrajectorySamplePythonVisitor::setsecond_derivative) | ||
60 | |||
61 | // Deprecated methods: | ||
62 |
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7 | .def("pos", &TrajectorySamplePythonVisitor::value, |
63 |
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14 | pinocchio::python::deprecated_function<>( |
64 | "This method is now deprecated. Please use .value")) | ||
65 |
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7 | .def("vel", &TrajectorySamplePythonVisitor::derivative, |
66 |
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14 | pinocchio::python::deprecated_function<>( |
67 | "This method is now deprecated. Please use .derivative")) | ||
68 |
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7 | .def( |
69 | "acc", &TrajectorySamplePythonVisitor::second_derivative, | ||
70 |
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14 | pinocchio::python::deprecated_function<>( |
71 | "This method is now deprecated. Please use .second_derivative")) | ||
72 | |||
73 |
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7 | .def("pos", &TrajectorySamplePythonVisitor::setvalue_vec, |
74 |
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14 | pinocchio::python::deprecated_function<>( |
75 | "This method is now deprecated. Please use .value")) | ||
76 |
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7 | .def("pos", &TrajectorySamplePythonVisitor::setvalue_se3, |
77 |
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14 | pinocchio::python::deprecated_function<>( |
78 | "This method is now deprecated. Please use .value")) | ||
79 |
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7 | .def("vel", &TrajectorySamplePythonVisitor::setderivative, |
80 |
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14 | pinocchio::python::deprecated_function<>( |
81 | "This method is now deprecated. Please use .derivative")) | ||
82 |
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7 | .def("acc", &TrajectorySamplePythonVisitor::setsecond_derivative, |
83 |
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14 | pinocchio::python::deprecated_function<>( |
84 | "This method is now deprecated. Please use " | ||
85 | ".second_derivative")); | ||
86 | 7 | } | |
87 | |||
88 | 2 | static void setvalue_vec(TrajSample& self, const Eigen::VectorXd value) { | |
89 |
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2 | assert(self.getValue().size() == value.size()); |
90 | 2 | self.setValue(value); | |
91 | 2 | } | |
92 | ✗ | static void setvalue_se3(TrajSample& self, const pinocchio::SE3& value) { | |
93 | ✗ | assert(self.getValue().size() == 12); | |
94 | TSID_DISABLE_WARNING_PUSH | ||
95 | TSID_DISABLE_WARNING_DEPRECATED | ||
96 | ✗ | tsid::math::SE3ToVector(value, self.pos); | |
97 | TSID_DISABLE_WARNING_POP | ||
98 | } | ||
99 | 1 | static void setderivative(TrajSample& self, | |
100 | const Eigen::VectorXd derivative) { | ||
101 |
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1 | assert(self.getDerivative().size() == derivative.size()); |
102 | 1 | self.setDerivative(derivative); | |
103 | 1 | } | |
104 | 1 | static void setsecond_derivative(TrajSample& self, | |
105 | const Eigen::VectorXd second_derivative) { | ||
106 |
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1 | assert(self.getSecondDerivative().size() == second_derivative.size()); |
107 | 1 | self.setSecondDerivative(second_derivative); | |
108 | 1 | } | |
109 | ✗ | static void resize(TrajSample& self, const unsigned int& size) { | |
110 | ✗ | self.resize(size, size); | |
111 | } | ||
112 | ✗ | static void resize2(TrajSample& self, const unsigned int& value_size, | |
113 | const unsigned int& derivative_size) { | ||
114 | ✗ | self.resize(value_size, derivative_size); | |
115 | } | ||
116 | 7 | static Eigen::VectorXd value(const TrajSample& self) { | |
117 | 7 | return self.getValue(); | |
118 | } | ||
119 | 3 | static Eigen::VectorXd derivative(const TrajSample& self) { | |
120 | 3 | return self.getDerivative(); | |
121 | } | ||
122 | 3 | static Eigen::VectorXd second_derivative(const TrajSample& self) { | |
123 | 3 | return self.getSecondDerivative(); | |
124 | } | ||
125 | |||
126 | 7 | static void expose(const std::string& class_name) { | |
127 |
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7 | std::string doc = "Trajectory Sample info."; |
128 |
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7 | bp::class_<TrajSample>(class_name.c_str(), doc.c_str(), bp::no_init) |
129 |
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7 | .def(TrajectorySamplePythonVisitor<TrajSample>()); |
130 | 7 | } | |
131 | }; | ||
132 | } // namespace python | ||
133 | } // namespace tsid | ||
134 | |||
135 | #endif // ifndef __tsid_python_traj_euclidian_hpp__ | ||
136 |