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% |
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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 |