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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>
#include "Joint.hpp"
namespace py = pybind11;
namespace dart {
namespace python {
void UniversalJoint(py::module& m)
{
::py::class_<dart::dynamics::UniversalJoint::UniqueProperties>(
m, "UniversalJointUniqueProperties")
.def(::py::init<>());
::py::class_<
dart::dynamics::UniversalJoint::Properties,
dart::dynamics::GenericJoint<math::R2Space>::Properties,
dart::dynamics::UniversalJoint::UniqueProperties>(
m, "UniversalJointProperties")
.def(::py::init<>())
.def(
::py::init<const dart::dynamics::GenericJoint<
dart::math::R2Space>::Properties&>(),
::py::arg("genericJointProperties"))
.def(
::py::init<
const dart::dynamics::GenericJoint<
dart::math::R2Space>::Properties&,
const dart::dynamics::UniversalJoint::UniqueProperties&>(),
::py::arg("genericJointProperties"),
::py::arg("uniqueProperties"))
.def_readwrite(
"mAxis",
&dart::dynamics::detail::UniversalJointUniqueProperties::mAxis);
DARTPY_DEFINE_JOINT_COMMON_BASE(UniversalJoint, R2Space)
::py::class_<
dart::dynamics::UniversalJoint,
dart::common::EmbedPropertiesOnTopOf<
dart::dynamics::UniversalJoint,
dart::dynamics::detail::UniversalJointUniqueProperties,
dart::dynamics::GenericJoint<dart::math::RealVectorSpace<2> > >,
std::shared_ptr<dart::dynamics::UniversalJoint> >(m, "UniversalJoint")
.def(
"hasUniversalJointAspect",
+[](const dart::dynamics::UniversalJoint* self) -> bool {
return self->hasUniversalJointAspect();
})
.def(
"setUniversalJointAspect",
+[](dart::dynamics::UniversalJoint* self,
const dart::common::EmbedPropertiesOnTopOf<
dart::dynamics::UniversalJoint,
dart::dynamics::detail::UniversalJointUniqueProperties,
dart::dynamics::GenericJoint<
dart::math::RealVectorSpace<2> > >::Aspect* aspect) {
self->setUniversalJointAspect(aspect);
},
::py::arg("aspect"))
.def(
"removeUniversalJointAspect",
+[](dart::dynamics::UniversalJoint* self) {
self->removeUniversalJointAspect();
})
.def(
"releaseUniversalJointAspect",
+[](dart::dynamics::UniversalJoint* self)
-> std::unique_ptr<dart::common::EmbedPropertiesOnTopOf<
dart::dynamics::UniversalJoint,
dart::dynamics::detail::UniversalJointUniqueProperties,
dart::dynamics::GenericJoint<
dart::math::RealVectorSpace<2> > >::Aspect> {
return self->releaseUniversalJointAspect();
})
.def(
"setProperties",
+[](dart::dynamics::UniversalJoint* self,
const dart::dynamics::UniversalJoint::Properties& _properties) {
self->setProperties(_properties);
},
::py::arg("properties"))
.def(
"setProperties",
+[](dart::dynamics::UniversalJoint* self,
const dart::dynamics::UniversalJoint::UniqueProperties&
_properties) { self->setProperties(_properties); },
::py::arg("properties"))
.def(
"setAspectProperties",
+[](dart::dynamics::UniversalJoint* self,
const dart::common::EmbedPropertiesOnTopOf<
dart::dynamics::UniversalJoint,
dart::dynamics::detail::UniversalJointUniqueProperties,
dart::dynamics::GenericJoint<
dart::math::RealVectorSpace<2> > >::AspectProperties&
properties) { self->setAspectProperties(properties); },
::py::arg("properties"))
.def(
"getUniversalJointProperties",
+[](const dart::dynamics::UniversalJoint* self)
-> dart::dynamics::UniversalJoint::Properties {
return self->getUniversalJointProperties();
})
.def(
"copy",
+[](dart::dynamics::UniversalJoint* self,
const dart::dynamics::UniversalJoint* _otherJoint) {
self->copy(_otherJoint);
},
::py::arg("otherJoint"))
.def(
"getType",
+[](const dart::dynamics::UniversalJoint* self)
-> const std::string& { return self->getType(); },
::py::return_value_policy::reference_internal)
.def(
"isCyclic",
+[](const dart::dynamics::UniversalJoint* self,
std::size_t _index) -> bool { return self->isCyclic(_index); },
::py::arg("index"))
.def(
"setAxis1",
+[](dart::dynamics::UniversalJoint* self,
const Eigen::Vector3d& _axis) { self->setAxis1(_axis); },
::py::arg("axis"))
.def(
"setAxis2",
+[](dart::dynamics::UniversalJoint* self,
const Eigen::Vector3d& _axis) { self->setAxis2(_axis); },
::py::arg("axis"))
.def(
"getAxis1",
+[](const dart::dynamics::UniversalJoint* self)
-> const Eigen::Vector3d& { return self->getAxis1(); },
::py::return_value_policy::reference_internal)
.def(
"getAxis2",
+[](const dart::dynamics::UniversalJoint* self)
-> const Eigen::Vector3d& { return self->getAxis2(); },
::py::return_value_policy::reference_internal)
.def(
"getRelativeJacobianStatic",
+[](const dart::dynamics::UniversalJoint* self,
const Eigen::Vector2d& _positions)
-> Eigen::Matrix<double, 6, 2> {
return self->getRelativeJacobianStatic(_positions);
},
::py::arg("positions"))
.def_static(
"getStaticType",
+[]() -> const std::string& {
return dart::dynamics::UniversalJoint::getStaticType();
},
::py::return_value_policy::reference_internal);
}
} // namespace python
} // namespace dart
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