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#ifndef _MANIF_PYTHON_BINDINGS_LIE_GROUP_BASE_H_
#define _MANIF_PYTHON_BINDINGS_LIE_GROUP_BASE_H_
template <typename _LieGroup, typename... _Args>
void wrap_lie_group_base(pybind11::class_<_LieGroup, _Args...>& py_class) {
using Scalar = typename _LieGroup::Scalar;
using Tangent = typename _LieGroup::Tangent;
using Vector = typename _LieGroup::Vector;
using DataType = typename _LieGroup::DataType;
using OptJacobianRef = typename _LieGroup::OptJacobianRef;
py_class.attr("Dim") = _LieGroup::Dim;
py_class.attr("DoF") = _LieGroup::DoF;
py_class.attr("RepSize") = _LieGroup::RepSize;
py_class.def(
pybind11::init<>(),
"Default constructor, uninitialized data."
);
py_class.def(
pybind11::init<const DataType&>(),
"Constructor given data vector."
);
py_class.def(
"coeffs_copy",
static_cast<DataType& (_LieGroup::*)(void)>(&_LieGroup::coeffs),
"Return a copy of underlying data."
); // Makes a copy!
py_class.def(
"coeffs",
static_cast<DataType& (_LieGroup::*)(void)>(&_LieGroup::coeffs),
pybind11::return_value_policy::reference_internal,
"Get a reference to underlying data."
);
py_class.def(
"inverse",
&_LieGroup::inverse,
pybind11::arg_v("J_out_self", OptJacobianRef(), "None"),
R"(
Return the inverse of the Lie group object.
See Eq. (3).
Parameters
----------
J_out_self [out] : numpy.ndarray
Jacobian of the inverse wrt self.
)"
);
py_class.def(
"log",
&_LieGroup::log,
pybind11::arg_v("J_out_self", OptJacobianRef(), "None"),
R"(
Return the corresponding Lie algebra element in vector form.
Eq. (24).
Parameters
----------
J_out_self [out] : numpy.ndarray
Jacobian of the log wrt self.
)"
);
py_class.def(
"adj",
&_LieGroup::adj,
R"(
Return the Adjoint of the Lie group object self.
See Eq. (29).
)"
);
py_class.def(
"compose",
&_LieGroup::template compose<_LieGroup>,
pybind11::arg("other"),
pybind11::arg_v("J_out_self", OptJacobianRef(), "None"),
pybind11::arg_v("J_out_other", OptJacobianRef(), "None"),
R"(
Return the composition of self and another object of the same Lie group.
See Eqs. (1,2,3,4).
Parameters
----------
other : Lie group
Another object of the same Lie group.
J_out_self [out] : numpy.ndarray
Jacobian of the composition wrt self.
J_out_other [out] : numpy.ndarray
Jacobian of the composition wrt other.
)"
);
py_class.def(
"between",
&_LieGroup::template between<_LieGroup>,
pybind11::arg("other"),
pybind11::arg_v("J_out_self", OptJacobianRef(), "None"),
pybind11::arg_v("J_out_other", OptJacobianRef(), "None"),
R"(
Return the between of self and another object of the same Lie group.
Parameters
----------
other : Lie group
Another object of the same Lie group.
J_out_self [out] : numpy.ndarray
Jacobian of the composition wrt self.
J_out_other [out] : numpy.ndarray
Jacobian of the composition wrt other.
)"
);
// That pops some nasty compilation errors.
// py_class.def(
// "act",
// &_LieGroup::template act<Vector>,
// pybind11::arg("v"),
// pybind11::arg_v(
// "J_vout_m",
// tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, _LieGroup::Dim, _LieGroup::DoF>>>(),
// "None"
// ),
// pybind11::arg_v(
// "J_vout_v",
// tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, _LieGroup::Dim, _LieGroup::Dim>>>(),
// "None"
// )
// );
py_class.def(
"act",
[](
const _LieGroup& self,
const Vector& v,
tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, _LieGroup::Dim, _LieGroup::DoF>>> Ja,
tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, _LieGroup::Dim, _LieGroup::Dim>>> Jb) {
return self.act(v, Ja, Jb);
},
pybind11::arg("p"),
pybind11::arg_v(
"J_out_self",
tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, _LieGroup::Dim, _LieGroup::DoF>>>(),
"None"
),
pybind11::arg_v(
"J_out_p",
tl::optional<Eigen::Ref<Eigen::Matrix<Scalar, _LieGroup::Dim, _LieGroup::Dim>>>(),
"None"
),
R"(
Get the action of the Lie group object on a point.
Parameters
----------
p : numpy.array
A point.
J_out_self [out] : numpy.ndarray
Jacobian of the new object wrt self.
J_out_p [out] : numpy.ndarray
Jacobian of the new object wrt input point.
)"
);
py_class.def(
"isApprox",
&_LieGroup::template isApprox<_LieGroup>,
pybind11::arg("other"),
pybind11::arg_v("eps", Scalar(manif::Constants<Scalar>::eps), "1e-10"),
R"(
Evaluate whether self and other are 'close'.
Parameters
----------
other : Lie group
Another object of the same Lie group.
eps : double
Threshold for equality comparison. Default: 1e-10.
)"
);
py_class.def(
"rplus",
&_LieGroup::template rplus<Tangent>,
pybind11::arg("tau"),
pybind11::arg_v("J_out_self", OptJacobianRef(), "None"),
pybind11::arg_v("J_out_tau", OptJacobianRef(), "None" ),
R"(
Right oplus operation of the Lie group.
See Eq. (25).
Parameters
----------
tau : Lie group tangent
An element of the tangent of the Lie group.
J_out_self [out] : numpy.ndarray
Jacobian of the oplus operation wrt self.
J_out_tau [out] : numpy.ndarray
Jacobian of the oplus operation wrt tau.
)"
);
py_class.def(
"lplus",
&_LieGroup::template lplus<Tangent>,
pybind11::arg("tau"),
pybind11::arg_v("J_out_self", OptJacobianRef(), "None"),
pybind11::arg_v("J_mout_tau", OptJacobianRef(), "None"),
R"(
Left oplus operation of the Lie group.
See Eq. (27).
Parameters
----------
tau : Lie group tangent
An element of the tangent of the Lie group.
J_out_self [out] : numpy.ndarray
Jacobian of the oplus operation wrt self.
J_out_tau [out] : numpy.ndarray
Jacobian of the oplus operation wrt tau.
)"
);
py_class.def(
"plus",
&_LieGroup::template plus<Tangent>,
pybind11::arg("tau"),
pybind11::arg_v("J_out_self", OptJacobianRef(), "None"),
pybind11::arg_v("J_mout_tau", OptJacobianRef(), "None"),
"An alias for the 'rplus' function."
);
py_class.def(
"rminus",
&_LieGroup::template rminus<_LieGroup>,
pybind11::arg("other"),
pybind11::arg_v("J_out_self", OptJacobianRef(), "None"),
pybind11::arg_v("J_out_other", OptJacobianRef(), "None"),
R"(
Right ominus operation of the Lie group.
See Eq. (26).
Parameters
----------
other : Lie group
Another element of the same Lie group.
J_out_self [out] : numpy.ndarray
Jacobian of the ominus operation wrt self.
J_out_other [out] : numpy.ndarray
Jacobian of the ominus operation wrt other.
)"
);
py_class.def(
"lminus",
&_LieGroup::template lminus<_LieGroup>,
pybind11::arg("other"),
pybind11::arg_v("J_out_self", OptJacobianRef(), "None"),
pybind11::arg_v("J_out_other", OptJacobianRef(), "None"),
R"(
Left ominus operation of the Lie group.
See Eq. (28).
Parameters
----------
other : Lie group
Another element of the same Lie group.
J_out_self [out] : numpy.ndarray
Jacobian of the ominus operation wrt self.
J_out_other [out] : numpy.ndarray
Jacobian of the ominus operation wrt other.
)"
);
py_class.def(
"minus",
&_LieGroup::template minus<_LieGroup>,
pybind11::arg("other"),
pybind11::arg_v("J_out_self", OptJacobianRef(), "None"),
pybind11::arg_v("J_out_other", OptJacobianRef(), "None"),
"An alias for the 'rminus' function."
);
py_class.def(
"setIdentity",
&_LieGroup::setIdentity,
"Set self to the Lie group Identity."
);
py_class.def(
"setRandom",
&_LieGroup::setRandom,
"Set self to a random value."
);
py_class.def_static(
"Identity",
&_LieGroup::Identity,
"Static helper to create an object set at the Lie group Identity."
);
py_class.def_static(
"Random",
&_LieGroup::Random,
"Static helper to create a random object of the Lie group."
);
py_class.def(
pybind11::self + Tangent(),
"Operator overload for the 'plus' function."
)
// .def(pybind11::self += Tangent())
.def(
pybind11::self - pybind11::self,
"Operator overload for the 'minus' function."
)
.def(
pybind11::self * pybind11::self,
"Operator overload for the 'compose' function."
)
// .def(pybind11::self *= pybind11::self)
.def(
pybind11::self == pybind11::self,
"Operator overload for the 'isApprox' function."
)
;
py_class.def(
"__str__",
[](const _LieGroup &o) {
std::ostringstream ss; ss << o;
return ss.str();
}
);
}
#endif // _MANIF_PYTHON_BINDINGS_LIE_GROUP_BASE_H_
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