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|
/*
* Copyright (c) 2011-2021, The DART development contributors
* All rights reserved.
*
* The list of contributors can be found at:
* https://github.com/dartsim/dart/blob/master/LICENSE
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include <dart/dart.hpp>
#include <eigen_geometry_pybind.h>
#include <pybind11/eigen.h>
#include <pybind11/pybind11.h>
namespace py = pybind11;
#define DARTPY_DEFINE_GENERICJOINT(name, space) \
::py::class_<dart::dynamics::detail::GenericJointUniqueProperties<space>>( \
m, "GenericJointUniqueProperties_" #name) \
.def(::py::init<>()) \
.def( \
::py::init< \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&>(), \
::py::arg("positionLowerLimits")) \
.def( \
::py::init< \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&>(), \
::py::arg("positionLowerLimits"), \
::py::arg("positionUpperLimits")) \
.def( \
::py::init< \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&>(), \
::py::arg("positionLowerLimits"), \
::py::arg("positionUpperLimits"), \
::py::arg("initialPositions")) \
.def( \
::py::init< \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&>(), \
::py::arg("positionLowerLimits"), \
::py::arg("positionUpperLimits"), \
::py::arg("initialPositions"), \
::py::arg("velocityLowerLimits")) \
.def( \
::py::init< \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&>(), \
::py::arg("positionLowerLimits"), \
::py::arg("positionUpperLimits"), \
::py::arg("initialPositions"), \
::py::arg("velocityLowerLimits"), \
::py::arg("velocityUpperLimits")) \
.def( \
::py::init< \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&>(), \
::py::arg("positionLowerLimits"), \
::py::arg("positionUpperLimits"), \
::py::arg("initialPositions"), \
::py::arg("velocityLowerLimits"), \
::py::arg("velocityUpperLimits"), \
::py::arg("initialVelocities")) \
.def( \
::py::init< \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&>(), \
::py::arg("positionLowerLimits"), \
::py::arg("positionUpperLimits"), \
::py::arg("initialPositions"), \
::py::arg("velocityLowerLimits"), \
::py::arg("velocityUpperLimits"), \
::py::arg("initialVelocities"), \
::py::arg("accelerationLowerLimits")) \
.def( \
::py::init< \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&>(), \
::py::arg("positionLowerLimits"), \
::py::arg("positionUpperLimits"), \
::py::arg("initialPositions"), \
::py::arg("velocityLowerLimits"), \
::py::arg("velocityUpperLimits"), \
::py::arg("initialVelocities"), \
::py::arg("accelerationLowerLimits"), \
::py::arg("accelerationUpperLimits")) \
.def( \
::py::init< \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&>(), \
::py::arg("positionLowerLimits"), \
::py::arg("positionUpperLimits"), \
::py::arg("initialPositions"), \
::py::arg("velocityLowerLimits"), \
::py::arg("velocityUpperLimits"), \
::py::arg("initialVelocities"), \
::py::arg("accelerationLowerLimits"), \
::py::arg("accelerationUpperLimits"), \
::py::arg("forceLowerLimits")) \
.def( \
::py::init< \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&>(), \
::py::arg("positionLowerLimits"), \
::py::arg("positionUpperLimits"), \
::py::arg("initialPositions"), \
::py::arg("velocityLowerLimits"), \
::py::arg("velocityUpperLimits"), \
::py::arg("initialVelocities"), \
::py::arg("accelerationLowerLimits"), \
::py::arg("accelerationUpperLimits"), \
::py::arg("forceLowerLimits"), \
::py::arg("forceUpperLimits")) \
.def( \
::py::init< \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&>(), \
::py::arg("positionLowerLimits"), \
::py::arg("positionUpperLimits"), \
::py::arg("initialPositions"), \
::py::arg("velocityLowerLimits"), \
::py::arg("velocityUpperLimits"), \
::py::arg("initialVelocities"), \
::py::arg("accelerationLowerLimits"), \
::py::arg("accelerationUpperLimits"), \
::py::arg("forceLowerLimits"), \
::py::arg("forceUpperLimits"), \
::py::arg("springStiffness")) \
.def( \
::py::init< \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&>(), \
::py::arg("positionLowerLimits"), \
::py::arg("positionUpperLimits"), \
::py::arg("initialPositions"), \
::py::arg("velocityLowerLimits"), \
::py::arg("velocityUpperLimits"), \
::py::arg("initialVelocities"), \
::py::arg("accelerationLowerLimits"), \
::py::arg("accelerationUpperLimits"), \
::py::arg("forceLowerLimits"), \
::py::arg("forceUpperLimits"), \
::py::arg("springStiffness"), \
::py::arg("restPosition")) \
.def( \
::py::init< \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&>(), \
::py::arg("positionLowerLimits"), \
::py::arg("positionUpperLimits"), \
::py::arg("initialPositions"), \
::py::arg("velocityLowerLimits"), \
::py::arg("velocityUpperLimits"), \
::py::arg("initialVelocities"), \
::py::arg("accelerationLowerLimits"), \
::py::arg("accelerationUpperLimits"), \
::py::arg("forceLowerLimits"), \
::py::arg("forceUpperLimits"), \
::py::arg("springStiffness"), \
::py::arg("restPosition"), \
::py::arg("dampingCoefficient")) \
.def( \
::py::init< \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::EuclideanPoint&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>::Vector&>(), \
::py::arg("positionLowerLimits"), \
::py::arg("positionUpperLimits"), \
::py::arg("initialPositions"), \
::py::arg("velocityLowerLimits"), \
::py::arg("velocityUpperLimits"), \
::py::arg("initialVelocities"), \
::py::arg("accelerationLowerLimits"), \
::py::arg("accelerationUpperLimits"), \
::py::arg("forceLowerLimits"), \
::py::arg("forceUpperLimits"), \
::py::arg("springStiffness"), \
::py::arg("restPosition"), \
::py::arg("dampingCoefficient"), \
::py::arg("coulombFrictions")) \
.def_readwrite( \
"mPositionLowerLimits", \
&dart::dynamics::detail::GenericJointUniqueProperties< \
space>::mPositionLowerLimits) \
.def_readwrite( \
"mPositionUpperLimits", \
&dart::dynamics::detail::GenericJointUniqueProperties< \
space>::mPositionUpperLimits) \
.def_readwrite( \
"mInitialPositions", \
&dart::dynamics::detail::GenericJointUniqueProperties< \
space>::mInitialPositions) \
.def_readwrite( \
"mVelocityLowerLimits", \
&dart::dynamics::detail::GenericJointUniqueProperties< \
space>::mVelocityLowerLimits) \
.def_readwrite( \
"mVelocityUpperLimits", \
&dart::dynamics::detail::GenericJointUniqueProperties< \
space>::mVelocityUpperLimits) \
.def_readwrite( \
"mInitialVelocities", \
&dart::dynamics::detail::GenericJointUniqueProperties< \
space>::mInitialVelocities) \
.def_readwrite( \
"mAccelerationLowerLimits", \
&dart::dynamics::detail::GenericJointUniqueProperties< \
space>::mAccelerationLowerLimits) \
.def_readwrite( \
"mAccelerationUpperLimits", \
&dart::dynamics::detail::GenericJointUniqueProperties< \
space>::mAccelerationUpperLimits) \
.def_readwrite( \
"mForceLowerLimits", \
&dart::dynamics::detail::GenericJointUniqueProperties< \
space>::mForceLowerLimits) \
.def_readwrite( \
"mForceUpperLimits", \
&dart::dynamics::detail::GenericJointUniqueProperties< \
space>::mForceUpperLimits) \
.def_readwrite( \
"mSpringStiffnesses", \
&dart::dynamics::detail::GenericJointUniqueProperties< \
space>::mSpringStiffnesses) \
.def_readwrite( \
"mRestPositions", \
&dart::dynamics::detail::GenericJointUniqueProperties< \
space>::mRestPositions) \
.def_readwrite( \
"mDampingCoefficients", \
&dart::dynamics::detail::GenericJointUniqueProperties< \
space>::mDampingCoefficients) \
.def_readwrite( \
"mFrictions", \
&dart::dynamics::detail::GenericJointUniqueProperties< \
space>::mFrictions) \
.def_readwrite( \
"mPreserveDofNames", \
&dart::dynamics::detail::GenericJointUniqueProperties< \
space>::mPreserveDofNames) \
.def_readwrite( \
"mDofNames", \
&dart::dynamics::detail::GenericJointUniqueProperties< \
space>::mDofNames); \
\
::py::class_< \
dart::dynamics::detail::GenericJointProperties<space>, \
dart::dynamics::detail::JointProperties, \
dart::dynamics::detail::GenericJointUniqueProperties<space>>( \
m, "GenericJointProperties_" #name) \
.def(::py::init<>()) \
.def( \
::py::init<const dart::dynamics::Joint::Properties&>(), \
::py::arg("jointProperties")) \
.def( \
::py::init< \
const dart::dynamics::Joint::Properties&, \
const dart::dynamics::detail::GenericJointUniqueProperties< \
space>&>(), \
::py::arg("jointProperties"), \
::py::arg("genericProperties")); \
\
::py::class_< \
dart::common::SpecializedForAspect< \
dart::common::EmbeddedStateAndPropertiesAspect< \
dart::dynamics::GenericJoint<space>, \
dart::dynamics::detail::GenericJointState<space>, \
dart::dynamics::detail::GenericJointUniqueProperties<space>>>, \
dart::common::Composite, \
std::shared_ptr<dart::common::SpecializedForAspect< \
dart::common::EmbeddedStateAndPropertiesAspect< \
dart::dynamics::GenericJoint<space>, \
dart::dynamics::detail::GenericJointState<space>, \
dart::dynamics::detail::GenericJointUniqueProperties<space>>>>>( \
m, \
"SpecializedForAspect_EmbeddedStateAndPropertiesAspect_" \
"GenericJoint_" #name "_GenericJointState_GenericJointUniqueProperties") \
.def(::py::init<>()); \
\
::py::class_< \
dart::common::RequiresAspect< \
dart::common::EmbeddedStateAndPropertiesAspect< \
dart::dynamics::GenericJoint<space>, \
dart::dynamics::detail::GenericJointState<space>, \
dart::dynamics::detail::GenericJointUniqueProperties<space>>>, \
dart::common::SpecializedForAspect< \
dart::common::EmbeddedStateAndPropertiesAspect< \
dart::dynamics::GenericJoint<space>, \
dart::dynamics::detail::GenericJointState<space>, \
dart::dynamics::detail::GenericJointUniqueProperties<space>>>, \
std::shared_ptr<dart::common::RequiresAspect< \
dart::common::EmbeddedStateAndPropertiesAspect< \
dart::dynamics::GenericJoint<space>, \
dart::dynamics::detail::GenericJointState<space>, \
dart::dynamics::detail::GenericJointUniqueProperties<space>>>>>( \
m, \
"RequiresAspect_EmbeddedStateAndPropertiesAspect_GenericJoint_" #name \
"_GenericJointState_GenericJointUniqueProperties") \
.def(::py::init<>()); \
\
::py::class_< \
dart::common::EmbedStateAndProperties< \
dart::dynamics::GenericJoint<space>, \
dart::dynamics::detail::GenericJointState<space>, \
dart::dynamics::detail::GenericJointUniqueProperties<space>>, \
dart::common::RequiresAspect< \
dart::common::EmbeddedStateAndPropertiesAspect< \
dart::dynamics::GenericJoint<space>, \
dart::dynamics::detail::GenericJointState<space>, \
dart::dynamics::detail::GenericJointUniqueProperties<space>>>, \
std::shared_ptr<dart::common::EmbedStateAndProperties< \
dart::dynamics::GenericJoint<space>, \
dart::dynamics::detail::GenericJointState<space>, \
dart::dynamics::detail::GenericJointUniqueProperties<space>>>>( \
m, \
"EmbedStateAndProperties_GenericJoint_" #name \
"GenericJointState_GenericJointUniqueProperties"); \
\
::py::class_< \
dart::common::CompositeJoiner< \
dart::common::EmbedStateAndProperties< \
dart::dynamics::GenericJoint<space>, \
dart::dynamics::detail::GenericJointState<space>, \
dart::dynamics::detail::GenericJointUniqueProperties<space>>, \
dart::dynamics::Joint>, \
dart::common::EmbedStateAndProperties< \
dart::dynamics::GenericJoint<space>, \
dart::dynamics::detail::GenericJointState<space>, \
dart::dynamics::detail::GenericJointUniqueProperties<space>>, \
dart::dynamics::Joint, \
std::shared_ptr<dart::common::CompositeJoiner< \
dart::common::EmbedStateAndProperties< \
dart::dynamics::GenericJoint<space>, \
dart::dynamics::detail::GenericJointState<space>, \
dart::dynamics::detail::GenericJointUniqueProperties<space>>, \
dart::dynamics::Joint>>>( \
m, \
"CompositeJoiner_EmbedStateAndProperties_GenericJoint_" #name \
"GenericJointStateGenericJointUniqueProperties_Joint"); \
\
::py::class_< \
dart::common::EmbedStateAndPropertiesOnTopOf< \
dart::dynamics::GenericJoint<space>, \
dart::dynamics::detail::GenericJointState<space>, \
dart::dynamics::detail::GenericJointUniqueProperties<space>, \
dart::dynamics::Joint>, \
dart::common::CompositeJoiner< \
dart::common::EmbedStateAndProperties< \
dart::dynamics::GenericJoint<space>, \
dart::dynamics::detail::GenericJointState<space>, \
dart::dynamics::detail::GenericJointUniqueProperties<space>>, \
dart::dynamics::Joint>, \
std::shared_ptr<dart::common::EmbedStateAndPropertiesOnTopOf< \
dart::dynamics::GenericJoint<space>, \
dart::dynamics::detail::GenericJointState<space>, \
dart::dynamics::detail::GenericJointUniqueProperties<space>, \
dart::dynamics::Joint>>>( \
m, \
"EmbedStateAndPropertiesOnTopOf_GenericJoint_" #name \
"_GenericJointState_GenericJointUniqueProperties_Joint"); \
\
::py::class_< \
dart::dynamics::GenericJoint<space>, \
dart::common::EmbedStateAndPropertiesOnTopOf< \
dart::dynamics::GenericJoint<space>, \
dart::dynamics::detail::GenericJointState<space>, \
dart::dynamics::detail::GenericJointUniqueProperties<space>, \
dart::dynamics::Joint>, \
std::shared_ptr<dart::dynamics::GenericJoint<space>>>( \
m, "GenericJoint_" #name) \
.def( \
"hasGenericJointAspect", \
+[](const dart::dynamics::GenericJoint<space>* self) -> bool { \
return self->hasGenericJointAspect(); \
}) \
.def( \
"setGenericJointAspect", \
+[](dart::dynamics::GenericJoint<space>* self, \
const dart::dynamics::GenericJoint<space>::Aspect* aspect) { \
self->setGenericJointAspect(aspect); \
}, \
::py::arg("aspect")) \
.def( \
"removeGenericJointAspect", \
+[](dart::dynamics::GenericJoint<space>* self) { \
self->removeGenericJointAspect(); \
}) \
.def( \
"releaseGenericJointAspect", \
+[](dart::dynamics::GenericJoint<space>* self) \
-> std::unique_ptr< \
dart::dynamics::GenericJoint<space>::Aspect> { \
return self->releaseGenericJointAspect(); \
}) \
.def( \
"setProperties", \
+[](dart::dynamics::GenericJoint<space>* self, \
const dart::dynamics::GenericJoint<space>::Properties& \
properties) { self->setProperties(properties); }, \
::py::arg("properties")) \
.def( \
"setProperties", \
+[](dart::dynamics::GenericJoint<space>* self, \
const dart::dynamics::GenericJoint<space>::UniqueProperties& \
properties) { self->setProperties(properties); }, \
::py::arg("properties")) \
.def( \
"setAspectState", \
+[](dart::dynamics::GenericJoint<space>* self, \
const dart::dynamics::GenericJoint<space>::AspectState& state) { \
self->setAspectState(state); \
}, \
::py::arg("state")) \
.def( \
"setAspectProperties", \
+[](dart::dynamics::GenericJoint<space>* self, \
const dart::dynamics::GenericJoint<space>::AspectProperties& \
properties) { self->setAspectProperties(properties); }, \
::py::arg("properties")) \
.def( \
"getGenericJointProperties", \
+[](const dart::dynamics::GenericJoint<space>* self) \
-> dart::dynamics::GenericJoint<space>::Properties { \
return self->getGenericJointProperties(); \
}) \
.def( \
"copy", \
+[](dart::dynamics::GenericJoint<space>* self, \
const dart::dynamics::GenericJoint<space>::ThisClass& \
otherJoint) { self->copy(otherJoint); }, \
::py::arg("otherJoint")) \
.def( \
"copy", \
+[](dart::dynamics::GenericJoint<space>* self, \
const dart::dynamics::GenericJoint<space>::ThisClass* \
otherJoint) { self->copy(otherJoint); }, \
::py::arg("otherJoint")) \
.def( \
"getNumDofs", \
+[](const dart::dynamics::GenericJoint<space>* self) \
-> std::size_t { return self->getNumDofs(); }) \
.def( \
"setDofName", \
+[](dart::dynamics::GenericJoint<space>* self, \
size_t index, \
const std::string& name) -> const std::string& { \
return self->setDofName(index, name); \
}, \
::py::return_value_policy::reference_internal, \
::py::arg("index"), \
::py::arg("name")) \
.def( \
"setDofName", \
+[](dart::dynamics::GenericJoint<space>* self, \
size_t index, \
const std::string& name, \
bool preserveName) -> const std::string& { \
return self->setDofName(index, name, preserveName); \
}, \
::py::return_value_policy::reference_internal, \
::py::arg("index"), \
::py::arg("name"), \
::py::arg("preserveName")) \
.def( \
"preserveDofName", \
+[](dart::dynamics::GenericJoint<space>* self, \
size_t index, \
bool preserve) { self->preserveDofName(index, preserve); }, \
::py::arg("index"), \
::py::arg("preserve")) \
.def( \
"isDofNamePreserved", \
+[](const dart::dynamics::GenericJoint<space>* self, size_t index) \
-> bool { return self->isDofNamePreserved(index); }, \
::py::arg("index")) \
.def( \
"getDofName", \
+[](const dart::dynamics::GenericJoint<space>* self, size_t index) \
-> const std::string& { return self->getDofName(index); }, \
::py::return_value_policy::reference_internal, \
::py::arg("index")) \
.def( \
"getIndexInSkeleton", \
+[](const dart::dynamics::GenericJoint<space>* self, size_t index) \
-> size_t { return self->getIndexInSkeleton(index); }, \
::py::arg("index")) \
.def( \
"getIndexInTree", \
+[](const dart::dynamics::GenericJoint<space>* self, \
size_t index) -> size_t { return self->getIndexInTree(index); }, \
::py::arg("index")) \
.def( \
"setCommand", \
+[](dart::dynamics::GenericJoint<space>* self, \
std::size_t index, \
double command) { self->setCommand(index, command); }, \
::py::arg("index"), \
::py::arg("command")) \
.def( \
"getCommand", \
+[](const dart::dynamics::GenericJoint<space>* self, \
std::size_t index) -> double { \
return self->getCommand(index); \
}, \
::py::arg("index")) \
.def( \
"setCommands", \
+[](dart::dynamics::GenericJoint<space>* self, \
const Eigen::VectorXd& commands) { \
self->setCommands(commands); \
}, \
::py::arg("commands")) \
.def( \
"getCommands", \
+[](const dart::dynamics::GenericJoint<space>* self) \
-> Eigen::VectorXd { return self->getCommands(); }) \
.def( \
"resetCommands", \
+[](dart::dynamics::GenericJoint<space>* self) { \
self->resetCommands(); \
}) \
.def( \
"setPosition", \
+[](dart::dynamics::GenericJoint<space>* self, \
std::size_t index, \
double position) { self->setPosition(index, position); }, \
::py::arg("index"), \
::py::arg("position")) \
.def( \
"getPosition", \
+[](const dart::dynamics::GenericJoint<space>* self, \
std::size_t index) -> double { \
return self->getPosition(index); \
}, \
::py::arg("index")) \
.def( \
"setPositions", \
+[](dart::dynamics::GenericJoint<space>* self, \
const Eigen::VectorXd& positions) { \
self->setPositions(positions); \
}, \
::py::arg("positions")) \
.def( \
"getPositions", \
+[](const dart::dynamics::GenericJoint<space>* self) \
-> Eigen::VectorXd { return self->getPositions(); }) \
.def( \
"setPositionLowerLimit", \
+[](dart::dynamics::GenericJoint<space>* self, \
size_t index, \
double position) { \
self->setPositionLowerLimit(index, position); \
}, \
::py::arg("index"), \
::py::arg("position")) \
.def( \
"getPositionLowerLimit", \
+[](const dart::dynamics::GenericJoint<space>* self, \
std::size_t index) -> double { \
return self->getPositionLowerLimit(index); \
}, \
::py::arg("index")) \
.def( \
"setPositionLowerLimits", \
+[](dart::dynamics::GenericJoint<space>* self, \
const Eigen::VectorXd& lowerLimits) { \
self->setPositionLowerLimits(lowerLimits); \
}, \
::py::arg("lowerLimits")) \
.def( \
"getPositionLowerLimits", \
+[](const dart::dynamics::GenericJoint<space>* self) \
-> Eigen::VectorXd { return self->getPositionLowerLimits(); }) \
.def( \
"setPositionUpperLimit", \
+[](dart::dynamics::GenericJoint<space>* self, \
size_t index, \
double position) { \
self->setPositionUpperLimit(index, position); \
}, \
::py::arg("index"), \
::py::arg("position")) \
.def( \
"getPositionUpperLimit", \
+[](const dart::dynamics::GenericJoint<space>* self, \
std::size_t index) -> double { \
return self->getPositionUpperLimit(index); \
}, \
::py::arg("index")) \
.def( \
"setPositionUpperLimits", \
+[](dart::dynamics::GenericJoint<space>* self, \
const Eigen::VectorXd& upperLimits) { \
self->setPositionUpperLimits(upperLimits); \
}, \
::py::arg("upperLimits")) \
.def( \
"getPositionUpperLimits", \
+[](const dart::dynamics::GenericJoint<space>* self) \
-> Eigen::VectorXd { return self->getPositionUpperLimits(); }) \
.def( \
"hasPositionLimit", \
+[](const dart::dynamics::GenericJoint<space>* self, \
std::size_t index) -> bool { \
return self->hasPositionLimit(index); \
}, \
::py::arg("index")) \
.def( \
"resetPosition", \
+[](dart::dynamics::GenericJoint<space>* self, std::size_t index) { \
self->resetPosition(index); \
}, \
::py::arg("index")) \
.def( \
"resetPositions", \
+[](dart::dynamics::GenericJoint<space>* self) { \
self->resetPositions(); \
}) \
.def( \
"setInitialPosition", \
+[](dart::dynamics::GenericJoint<space>* self, \
size_t index, \
double initial) { self->setInitialPosition(index, initial); }, \
::py::arg("index"), \
::py::arg("initial")) \
.def( \
"getInitialPosition", \
+[](const dart::dynamics::GenericJoint<space>* self, \
std::size_t index) -> double { \
return self->getInitialPosition(index); \
}, \
::py::arg("index")) \
.def( \
"setInitialPositions", \
+[](dart::dynamics::GenericJoint<space>* self, \
const Eigen::VectorXd& initial) { \
self->setInitialPositions(initial); \
}, \
::py::arg("initial")) \
.def( \
"getInitialPositions", \
+[](const dart::dynamics::GenericJoint<space>* self) \
-> Eigen::VectorXd { return self->getInitialPositions(); }) \
.def( \
"setPositionsStatic", \
+[](dart::dynamics::GenericJoint<space>* self, \
const dart::dynamics::GenericJoint<space>::Vector& positions) { \
self->setPositionsStatic(positions); \
}, \
::py::arg("positions")) \
.def( \
"setVelocitiesStatic", \
+[](dart::dynamics::GenericJoint<space>* self, \
const dart::dynamics::GenericJoint<space>::Vector& velocities) { \
self->setVelocitiesStatic(velocities); \
}, \
::py::arg("velocities")) \
.def( \
"setAccelerationsStatic", \
+[](dart::dynamics::GenericJoint<space>* self, \
const dart::dynamics::GenericJoint<space>::Vector& accels) { \
self->setAccelerationsStatic(accels); \
}, \
::py::arg("accels")) \
.def( \
"setVelocity", \
+[](dart::dynamics::GenericJoint<space>* self, \
std::size_t index, \
double velocity) { self->setVelocity(index, velocity); }, \
::py::arg("index"), \
::py::arg("velocity")) \
.def( \
"getVelocity", \
+[](const dart::dynamics::GenericJoint<space>* self, \
std::size_t index) -> double { \
return self->getVelocity(index); \
}, \
::py::arg("index")) \
.def( \
"setVelocities", \
+[](dart::dynamics::GenericJoint<space>* self, \
const Eigen::VectorXd& velocities) { \
self->setVelocities(velocities); \
}, \
::py::arg("velocities")) \
.def( \
"getVelocities", \
+[](const dart::dynamics::GenericJoint<space>* self) \
-> Eigen::VectorXd { return self->getVelocities(); }) \
.def( \
"setVelocityLowerLimit", \
+[](dart::dynamics::GenericJoint<space>* self, \
size_t index, \
double velocity) { \
self->setVelocityLowerLimit(index, velocity); \
}, \
::py::arg("index"), \
::py::arg("velocity")) \
.def( \
"getVelocityLowerLimit", \
+[](const dart::dynamics::GenericJoint<space>* self, \
std::size_t index) -> double { \
return self->getVelocityLowerLimit(index); \
}, \
::py::arg("index")) \
.def( \
"setVelocityLowerLimits", \
+[](dart::dynamics::GenericJoint<space>* self, \
const Eigen::VectorXd& lowerLimits) { \
self->setVelocityLowerLimits(lowerLimits); \
}, \
::py::arg("lowerLimits")) \
.def( \
"getVelocityLowerLimits", \
+[](const dart::dynamics::GenericJoint<space>* self) \
-> Eigen::VectorXd { return self->getVelocityLowerLimits(); }) \
.def( \
"setVelocityUpperLimit", \
+[](dart::dynamics::GenericJoint<space>* self, \
size_t index, \
double velocity) { \
self->setVelocityUpperLimit(index, velocity); \
}, \
::py::arg("index"), \
::py::arg("velocity")) \
.def( \
"getVelocityUpperLimit", \
+[](const dart::dynamics::GenericJoint<space>* self, \
std::size_t index) -> double { \
return self->getVelocityUpperLimit(index); \
}, \
::py::arg("index")) \
.def( \
"setVelocityUpperLimits", \
+[](dart::dynamics::GenericJoint<space>* self, \
const Eigen::VectorXd& upperLimits) { \
self->setVelocityUpperLimits(upperLimits); \
}, \
::py::arg("upperLimits")) \
.def( \
"getVelocityUpperLimits", \
+[](const dart::dynamics::GenericJoint<space>* self) \
-> Eigen::VectorXd { return self->getVelocityUpperLimits(); }) \
.def( \
"resetVelocity", \
+[](dart::dynamics::GenericJoint<space>* self, std::size_t index) { \
self->resetVelocity(index); \
}, \
::py::arg("index")) \
.def( \
"resetVelocities", \
+[](dart::dynamics::GenericJoint<space>* \
self) { self->resetVelocities(); }) \
.def( \
"setInitialVelocity", \
+[](dart::dynamics::GenericJoint<space>* self, \
size_t index, \
double initial) { self->setInitialVelocity(index, initial); }, \
::py::arg("index"), \
::py::arg("initial")) \
.def( \
"getInitialVelocity", \
+[](const dart::dynamics::GenericJoint<space>* self, \
std::size_t index) -> double { \
return self->getInitialVelocity(index); \
}, \
::py::arg("index")) \
.def( \
"setInitialVelocities", \
+[](dart::dynamics::GenericJoint<space>* self, \
const Eigen::VectorXd& initial) { \
self->setInitialVelocities(initial); \
}, \
::py::arg("initial")) \
.def( \
"getInitialVelocities", \
+[](const dart::dynamics::GenericJoint<space>* self) \
-> Eigen::VectorXd { return self->getInitialVelocities(); }) \
.def( \
"setAcceleration", \
+[](dart::dynamics::GenericJoint<space>* self, \
std::size_t index, \
double acceleration) { \
self->setAcceleration(index, acceleration); \
}, \
::py::arg("index"), \
::py::arg("acceleration")) \
.def( \
"getAcceleration", \
+[](const dart::dynamics::GenericJoint<space>* self, \
std::size_t index) -> double { \
return self->getAcceleration(index); \
}, \
::py::arg("index")) \
.def( \
"setAccelerations", \
+[](dart::dynamics::GenericJoint<space>* self, \
const Eigen::VectorXd& accelerations) { \
self->setAccelerations(accelerations); \
}, \
::py::arg("accelerations")) \
.def( \
"getAccelerations", \
+[](const dart::dynamics::GenericJoint<space>* self) \
-> Eigen::VectorXd { return self->getAccelerations(); }) \
.def( \
"setAccelerationLowerLimit", \
+[](dart::dynamics::GenericJoint<space>* self, \
size_t index, \
double acceleration) { \
self->setAccelerationLowerLimit(index, acceleration); \
}, \
::py::arg("index"), \
::py::arg("acceleration")) \
.def( \
"getAccelerationLowerLimit", \
+[](const dart::dynamics::GenericJoint<space>* self, \
std::size_t index) -> double { \
return self->getAccelerationLowerLimit(index); \
}, \
::py::arg("index")) \
.def( \
"setAccelerationLowerLimits", \
+[](dart::dynamics::GenericJoint<space>* self, \
const Eigen::VectorXd& lowerLimits) { \
self->setAccelerationLowerLimits(lowerLimits); \
}, \
::py::arg("lowerLimits")) \
.def( \
"getAccelerationLowerLimits", \
+[](const dart::dynamics::GenericJoint<space>* self) \
-> Eigen::VectorXd { \
return self->getAccelerationLowerLimits(); \
}) \
.def( \
"setAccelerationUpperLimit", \
+[](dart::dynamics::GenericJoint<space>* self, \
size_t index, \
double acceleration) { \
self->setAccelerationUpperLimit(index, acceleration); \
}, \
::py::arg("index"), \
::py::arg("acceleration")) \
.def( \
"getAccelerationUpperLimit", \
+[](const dart::dynamics::GenericJoint<space>* self, \
std::size_t index) -> double { \
return self->getAccelerationUpperLimit(index); \
}, \
::py::arg("index")) \
.def( \
"setAccelerationUpperLimits", \
+[](dart::dynamics::GenericJoint<space>* self, \
const Eigen::VectorXd& upperLimits) { \
self->setAccelerationUpperLimits(upperLimits); \
}, \
::py::arg("upperLimits")) \
.def( \
"getAccelerationUpperLimits", \
+[](const dart::dynamics::GenericJoint<space>* self) \
-> Eigen::VectorXd { \
return self->getAccelerationUpperLimits(); \
}) \
.def( \
"resetAccelerations", \
+[](dart::dynamics::GenericJoint<space>* self) { \
self->resetAccelerations(); \
}) \
.def( \
"setForce", \
+[](dart::dynamics::GenericJoint<space>* self, \
std::size_t index, \
double force) { self->setForce(index, force); }, \
::py::arg("index"), \
::py::arg("force")) \
.def( \
"getForce", \
+[](const dart::dynamics::GenericJoint<space>* self, \
std::size_t index) -> double { return self->getForce(index); }, \
::py::arg("index")) \
.def( \
"setForces", \
+[](dart::dynamics::GenericJoint<space>* self, \
const Eigen::VectorXd& forces) { self->setForces(forces); }, \
::py::arg("forces")) \
.def( \
"getForces", \
+[](const dart::dynamics::GenericJoint<space>* self) \
-> Eigen::VectorXd { return self->getForces(); }) \
.def( \
"setForceLowerLimit", \
+[](dart::dynamics::GenericJoint<space>* self, \
size_t index, \
double force) { self->setForceLowerLimit(index, force); }, \
::py::arg("index"), \
::py::arg("force")) \
.def( \
"getForceLowerLimit", \
+[](const dart::dynamics::GenericJoint<space>* self, \
std::size_t index) -> double { \
return self->getForceLowerLimit(index); \
}, \
::py::arg("index")) \
.def( \
"setForceLowerLimits", \
+[](dart::dynamics::GenericJoint<space>* self, \
const Eigen::VectorXd& lowerLimits) { \
self->setForceLowerLimits(lowerLimits); \
}, \
::py::arg("lowerLimits")) \
.def( \
"getForceLowerLimits", \
+[](const dart::dynamics::GenericJoint<space>* self) \
-> Eigen::VectorXd { return self->getForceLowerLimits(); }) \
.def( \
"setForceUpperLimit", \
+[](dart::dynamics::GenericJoint<space>* self, \
size_t index, \
double force) { self->setForceUpperLimit(index, force); }, \
::py::arg("index"), \
::py::arg("force")) \
.def( \
"getForceUpperLimit", \
+[](const dart::dynamics::GenericJoint<space>* self, size_t index) \
-> double { return self->getForceUpperLimit(index); }, \
::py::arg("index")) \
.def( \
"setForceUpperLimits", \
+[](dart::dynamics::GenericJoint<space>* self, \
const Eigen::VectorXd& upperLimits) { \
self->setForceUpperLimits(upperLimits); \
}, \
::py::arg("upperLimits")) \
.def( \
"getForceUpperLimits", \
+[](const dart::dynamics::GenericJoint<space>* self) \
-> Eigen::VectorXd { return self->getForceUpperLimits(); }) \
.def( \
"resetForces", \
+[](dart::dynamics::GenericJoint<space>* \
self) { self->resetForces(); }) \
.def( \
"setVelocityChange", \
+[](dart::dynamics::GenericJoint<space>* self, \
std::size_t index, \
double velocityChange) { \
self->setVelocityChange(index, velocityChange); \
}, \
::py::arg("index"), \
::py::arg("velocityChange")) \
.def( \
"getVelocityChange", \
+[](const dart::dynamics::GenericJoint<space>* self, \
std::size_t index) -> double { \
return self->getVelocityChange(index); \
}, \
::py::arg("index")) \
.def( \
"resetVelocityChanges", \
+[](dart::dynamics::GenericJoint<space>* self) { \
self->resetVelocityChanges(); \
}) \
.def( \
"setConstraintImpulse", \
+[](dart::dynamics::GenericJoint<space>* self, \
std::size_t index, \
double impulse) { self->setConstraintImpulse(index, impulse); }, \
::py::arg("index"), \
::py::arg("impulse")) \
.def( \
"getConstraintImpulse", \
+[](const dart::dynamics::GenericJoint<space>* self, \
std::size_t index) -> double { \
return self->getConstraintImpulse(index); \
}, \
::py::arg("index")) \
.def( \
"resetConstraintImpulses", \
+[](dart::dynamics::GenericJoint<space>* self) { \
self->resetConstraintImpulses(); \
}) \
.def( \
"integratePositions", \
+[](dart::dynamics::GenericJoint<space>* self, double dt) { \
self->integratePositions(dt); \
}, \
::py::arg("dt")) \
.def( \
"integrateVelocities", \
+[](dart::dynamics::GenericJoint<space>* self, double dt) { \
self->integrateVelocities(dt); \
}, \
::py::arg("dt")) \
.def( \
"getPositionDifferences", \
+[](const dart::dynamics::GenericJoint<space>* self, \
const Eigen::VectorXd& q2, \
const Eigen::VectorXd& q1) -> Eigen::VectorXd { \
return self->getPositionDifferences(q2, q1); \
}, \
::py::arg("q2"), \
::py::arg("q1")) \
.def( \
"getPositionDifferencesStatic", \
+[](const dart::dynamics::GenericJoint<space>* self, \
const dart::dynamics::GenericJoint<space>::Vector& q2, \
const dart::dynamics::GenericJoint<space>::Vector& q1) \
-> dart::dynamics::GenericJoint<space>::Vector { \
return self->getPositionDifferencesStatic(q2, q1); \
}, \
::py::arg("q2"), \
::py::arg("q1")) \
.def( \
"setSpringStiffness", \
+[](dart::dynamics::GenericJoint<space>* self, \
size_t index, \
double k) { self->setSpringStiffness(index, k); }, \
::py::arg("index"), \
::py::arg("k")) \
.def( \
"getSpringStiffness", \
+[](const dart::dynamics::GenericJoint<space>* self, \
std::size_t index) -> double { \
return self->getSpringStiffness(index); \
}, \
::py::arg("index")) \
.def( \
"setRestPosition", \
+[](dart::dynamics::GenericJoint<space>* self, \
size_t index, \
double q0) { self->setRestPosition(index, q0); }, \
::py::arg("index"), \
::py::arg("q0")) \
.def( \
"getRestPosition", \
+[](const dart::dynamics::GenericJoint<space>* self, \
std::size_t index) -> double { \
return self->getRestPosition(index); \
}, \
::py::arg("index")) \
.def( \
"setDampingCoefficient", \
+[](dart::dynamics::GenericJoint<space>* self, \
size_t index, \
double d) { self->setDampingCoefficient(index, d); }, \
::py::arg("index"), \
::py::arg("d")) \
.def( \
"getDampingCoefficient", \
+[](const dart::dynamics::GenericJoint<space>* self, \
std::size_t index) -> double { \
return self->getDampingCoefficient(index); \
}, \
::py::arg("index")) \
.def( \
"setCoulombFriction", \
+[](dart::dynamics::GenericJoint<space>* self, \
size_t index, \
double friction) { self->setCoulombFriction(index, friction); }, \
::py::arg("index"), \
::py::arg("friction")) \
.def( \
"getCoulombFriction", \
+[](const dart::dynamics::GenericJoint<space>* self, \
std::size_t index) -> double { \
return self->getCoulombFriction(index); \
}, \
::py::arg("index")) \
.def( \
"computePotentialEnergy", \
+[](const dart::dynamics::GenericJoint<space>* self) -> double { \
return self->computePotentialEnergy(); \
}) \
.def( \
"getBodyConstraintWrench", \
+[](const dart::dynamics::GenericJoint<space>* self) \
-> Eigen::Vector6d { return self->getBodyConstraintWrench(); }) \
.def( \
"getRelativeJacobian", \
+[](const dart::dynamics::GenericJoint<space>* self) \
-> const dart::math::Jacobian { \
return self->getRelativeJacobian(); \
}) \
.def( \
"getRelativeJacobian", \
+[](const dart::dynamics::GenericJoint<space>* self, \
const Eigen::VectorXd& _positions) -> dart::math::Jacobian { \
return self->getRelativeJacobian(_positions); \
}, \
::py::arg("positions")) \
.def( \
"getRelativeJacobianStatic", \
+[](const dart::dynamics::GenericJoint<space>* self, \
const dart::dynamics::GenericJoint<space>::Vector& positions) \
-> dart::dynamics::GenericJoint<space>::JacobianMatrix { \
return self->getRelativeJacobianStatic(positions); \
}, \
::py::arg("positions")) \
.def( \
"getRelativeJacobianTimeDeriv", \
+[](const dart::dynamics::GenericJoint<space>* self) \
-> const dart::math::Jacobian { \
return self->getRelativeJacobianTimeDeriv(); \
}) \
.def_readonly_static( \
"NumDofs", &dart::dynamics::GenericJoint<space>::NumDofs);
namespace dart {
namespace python {
void GenericJoint(py::module& m)
{
DARTPY_DEFINE_GENERICJOINT(R1, ::dart::math::RealVectorSpace<1>);
DARTPY_DEFINE_GENERICJOINT(R2, ::dart::math::RealVectorSpace<2>);
DARTPY_DEFINE_GENERICJOINT(R3, ::dart::math::RealVectorSpace<3>);
DARTPY_DEFINE_GENERICJOINT(SO3, ::dart::math::SO3Space);
DARTPY_DEFINE_GENERICJOINT(SE3, ::dart::math::SE3Space);
}
} // namespace python
} // namespace dart
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