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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 <pybind11/pybind11.h>
// #include <pybind11/stl.h>
#include "eigen_geometry_pybind.h"
#include "eigen_pybind.h"
namespace py = pybind11;
namespace dart {
namespace python {
void Inertia(py::module& m)
{
::py::class_<
dart::dynamics::Inertia,
std::shared_ptr<dart::dynamics::Inertia>>(m, "Inertia")
.def(
::py::init<double, const Eigen::Vector3d&, const Eigen::Matrix3d&>(),
::py::arg_v("mass", 1),
::py::arg_v(
"com", Eigen::Vector3d::Zero(), "Eigen::Vector3d::Zero()"),
::py::arg_v(
"momentOfInertia",
Eigen::Matrix3d::Identity(),
"Eigen::Matrix3d::Identity()"))
.def(
::py::init<const Eigen::Matrix6d&>(),
::py::arg("spatialInertiaTensor"))
.def(
"setMass",
+[](dart::dynamics::Inertia* self, double mass) {
self->setMass(mass);
},
::py::arg("mass"))
.def(
"getMass",
+[](const dart::dynamics::Inertia* self) -> double {
return self->getMass();
})
.def(
"setLocalCOM",
+[](dart::dynamics::Inertia* self, const Eigen::Vector3d& com) {
self->setLocalCOM(com);
},
::py::arg("com"))
.def(
"getLocalCOM",
+[](const dart::dynamics::Inertia* self) -> const Eigen::Vector3d& {
return self->getLocalCOM();
},
::py::return_value_policy::reference_internal)
.def(
"setMoment",
+[](dart::dynamics::Inertia* self, const Eigen::Matrix3d& moment) {
self->setMoment(moment);
},
::py::arg("moment"))
.def(
"getMoment",
+[](const dart::dynamics::Inertia* self) -> Eigen::Matrix3d {
return self->getMoment();
})
.def(
"setSpatialTensor",
+[](dart::dynamics::Inertia* self, const Eigen::Matrix6d& spatial) {
self->setSpatialTensor(spatial);
},
::py::arg("spatial"))
.def(
"getSpatialTensor",
+[](const dart::dynamics::Inertia* self) -> const Eigen::Matrix6d& {
return self->getSpatialTensor();
},
::py::return_value_policy::reference_internal)
.def(
"verify",
+[](const dart::dynamics::Inertia* self,
bool printWarnings,
double tolerance) -> bool {
return self->verify(printWarnings, tolerance);
},
::py::arg_v("printWarnings", true),
::py::arg_v("tolerance", 1e-8))
.def(
"__eq__",
+[](const dart::dynamics::Inertia* self,
const dart::dynamics::Inertia& other) -> bool {
return self && *self == other;
})
.def_static(
"verifyMoment",
+[](const Eigen::Matrix3d& moment,
bool printWarnings,
double tolerance) -> bool {
return dart::dynamics::Inertia::verifyMoment(
moment, printWarnings, tolerance);
},
::py::arg("moment"),
::py::arg_v("printWarnings", true),
::py::arg_v("tolerance", 1e-8))
.def_static(
"verifySpatialTensor",
+[](const Eigen::Matrix6d& spatial,
bool printWarnings = true,
double tolerance = 1e-8) -> bool {
return dart::dynamics::Inertia::verifySpatialTensor(
spatial, printWarnings, tolerance);
},
::py::arg("spatial"),
::py::arg_v("printWarnings", true),
::py::arg_v("tolerance", 1e-8));
}
} // namespace python
} // namespace dart
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