1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
|
/*
* Copyright (c) 2011-2022, 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 "eigen_geometry_pybind.h"
#include "eigen_pybind.h"
namespace py = pybind11;
namespace dart {
namespace python {
void ShapeNode(py::module& m)
{
::py::class_<
dart::dynamics::ShapeNode,
dart::dynamics::JacobianNode,
dart::dynamics::ShapeFrame,
dart::dynamics::Node,
std::shared_ptr<dart::dynamics::ShapeNode>>(m, "ShapeNode")
.def(
"setProperties",
+[](dart::dynamics::ShapeNode* self,
const dart::dynamics::ShapeNode::Properties& properties) {
self->setProperties(properties);
},
::py::arg("properties"))
.def(
"getShapeNodeProperties",
+[](const dart::dynamics::ShapeNode* self)
-> const dart::dynamics::ShapeNode::Properties {
return self->getShapeNodeProperties();
})
.def(
"copy",
+[](dart::dynamics::ShapeNode* self,
const dart::dynamics::ShapeNode* other) { self->copy(other); },
::py::arg("other"))
.def(
"setRelativeTransform",
+[](dart::dynamics::ShapeNode* self,
const Eigen::Isometry3d& transform) {
self->setRelativeTransform(transform);
},
::py::arg("transform"))
.def(
"setRelativeRotation",
+[](dart::dynamics::ShapeNode* self,
const Eigen::Matrix3d& rotation) {
self->setRelativeRotation(rotation);
},
::py::arg("rotation"))
.def(
"getRelativeRotation",
+[](const dart::dynamics::ShapeNode* self) -> Eigen::Matrix3d {
return self->getRelativeRotation();
})
.def(
"setRelativeTranslation",
+[](dart::dynamics::ShapeNode* self,
const Eigen::Vector3d& translation) {
self->setRelativeTranslation(translation);
},
::py::arg("translation"))
.def(
"setOffset",
+[](dart::dynamics::ShapeNode* self, const Eigen::Vector3d& offset) {
self->setOffset(offset);
},
::py::arg("offset"))
.def(
"getRelativeTranslation",
+[](const dart::dynamics::ShapeNode* self) -> Eigen::Vector3d {
return self->getRelativeTranslation();
})
.def(
"getOffset",
+[](const dart::dynamics::ShapeNode* self) -> Eigen::Vector3d {
return self->getOffset();
});
}
} // namespace python
} // namespace dart
|
