| Directory: | ./ |
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| File: | bindings/python/math/utils.cpp |
| Date: | 2024-08-26 20:29:39 |
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| Lines: | 6 | 14 | 42.9% |
| Branches: | 4 | 16 | 25.0% |
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| 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 |
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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 |
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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 |
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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 |
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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 | ||
| 56 |