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//Copyright (C) 2007 Ruben Smits <ruben dot smits at intermodalics dot eu>
//
//Version: 1.0
//Author: Ruben Smits Ruben Smits <ruben dot smits at intermodalics dot eu>
//Author: Zihan Chen <zihan dot chen dot jhu at gmail dot com>
//Author: Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
//Maintainer: Ruben Smits Ruben Smits <ruben dot smits at intermodalics dot eu>
//Maintainer: Matthijs van der Burgh <MatthijsBurgh at outlook dot com>
//URL: http://www.orocos.org/kdl
//
//This library is free software; you can redistribute it and/or
//modify it under the terms of the GNU Lesser General Public
//License as published by the Free Software Foundation; either
//version 2.1 of the License, or (at your option) any later version.
//
//This library is distributed in the hope that it will be useful,
//but WITHOUT ANY WARRANTY; without even the implied warranty of
//MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
//Lesser General Public License for more details.
//
//You should have received a copy of the GNU Lesser General Public
//License along with this library; if not, write to the Free Software
//Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
#include <kdl/framevel.hpp>
#include <kdl/framevel_io.hpp>
#include "PyKDL.h"
namespace py = pybind11;
using namespace KDL;
void init_framevel(pybind11::module &m)
{
// --------------------
// doubleVel
// --------------------
py::class_<doubleVel > double_vel(m, "doubleVel");
double_vel.def(py::init<>());
double_vel.def(py::init<const double>());
double_vel.def(py::init<const double, const double>());
double_vel.def(py::init<const doubleVel&>());
double_vel.def_readwrite("t", &doubleVel::t);
double_vel.def_readwrite("grad", &doubleVel::grad);
double_vel.def("value", &doubleVel::value);
double_vel.def("deriv", &doubleVel::deriv);
double_vel.def("__repr__", [](const doubleVel &d)
{
std::ostringstream oss;
oss << d;
return oss.str();
});
double_vel.def("__copy__", [](const doubleVel& self)
{
return doubleVel(self);
});
double_vel.def("__deepcopy__", [](const doubleVel& self, py::dict)
{
return doubleVel(self);
}, py::arg("memo"));
double_vel.def(py::self == py::self);
double_vel.def(py::self != py::self);
double_vel.def("__neg__", [](const doubleVel &a)
{
return operator-(a);
}, py::is_operator());
m.def("diff", (doubleVel (*)(const doubleVel&, const doubleVel&, double)) &KDL::diff,
py::arg("a"), py::arg("b"), py::arg("dt")=1.0);
m.def("addDelta", (doubleVel (*)(const doubleVel&, const doubleVel&, double)) &KDL::addDelta,
py::arg("a"), py::arg("da"), py::arg("dt")=1.0);
m.def("Equal", (bool (*)(const doubleVel&, const doubleVel&, double)) &KDL::Equal,
py::arg("r1"), py::arg("r2"), py::arg("eps")=epsilon);
// --------------------
// VectorVel
// --------------------
py::class_<VectorVel> vector_vel(m, "VectorVel");
vector_vel.def_readwrite("p", &VectorVel::p);
vector_vel.def_readwrite("v", &VectorVel::v);
vector_vel.def(py::init<>());
vector_vel.def(py::init<const Vector&, const Vector&>(), py::arg("p"), py::arg("v"));
vector_vel.def(py::init<const Vector&>(), py::arg("p"));
vector_vel.def(py::init<const VectorVel&>());
vector_vel.def("value", &VectorVel::value);
vector_vel.def("deriv", &VectorVel::deriv);
vector_vel.def("__repr__", [](const VectorVel &vv)
{
std::ostringstream oss;
oss << vv;
return oss.str();
});
vector_vel.def("__copy__", [](const VectorVel& self)
{
return VectorVel(self);
});
vector_vel.def("__deepcopy__", [](const VectorVel& self, py::dict)
{
return VectorVel(self);
}, py::arg("memo"));
vector_vel.def_static("Zero", &VectorVel::Zero);
vector_vel.def("ReverseSign", &VectorVel::ReverseSign);
vector_vel.def("Norm", &VectorVel::Norm, py::arg("eps")=epsilon);
vector_vel.def(py::self += py::self);
vector_vel.def(py::self -= py::self);
vector_vel.def(py::self + py::self);
vector_vel.def(py::self - py::self);
vector_vel.def(Vector() + py::self);
vector_vel.def(Vector() - py::self);
vector_vel.def(py::self + Vector());
vector_vel.def(py::self - Vector());
vector_vel.def(py::self * py::self);
vector_vel.def(py::self * Vector());
vector_vel.def(Vector() * py::self);
vector_vel.def(double() * py::self);
vector_vel.def(py::self * double());
vector_vel.def(doubleVel() * py::self);
vector_vel.def(py::self * doubleVel());
vector_vel.def(Rotation() * py::self);
vector_vel.def(py::self / double());
vector_vel.def(py::self / doubleVel());
vector_vel.def(py::self == py::self);
vector_vel.def(py::self != py::self);
vector_vel.def(Vector() == py::self);
vector_vel.def(Vector() != py::self);
vector_vel.def(py::self == Vector());
vector_vel.def(py::self != Vector());
vector_vel.def("__neg__", [](const VectorVel &a)
{
return operator-(a);
}, py::is_operator());
vector_vel.def(py::pickle(
[](const VectorVel &vv)
{ // __getstate__
/* Return a tuple that fully encodes the state of the object */
return py::make_tuple(vv.p, vv.v);
},
[](py::tuple t)
{ // __setstate__
if (t.size() != 2)
throw std::runtime_error("Invalid state!");
/* Create a new C++ instance */
VectorVel vv(t[0].cast<Vector>(), t[1].cast<Vector>());
return vv;
}));
m.def("SetToZero", (void (*)(VectorVel&)) &KDL::SetToZero);
m.def("Equal", (bool (*)(const VectorVel&, const VectorVel&, double)) &KDL::Equal,
py::arg("r1"), py::arg("r2"), py::arg("eps")=epsilon);
m.def("Equal", (bool (*)(const Vector&, const VectorVel&, double)) &KDL::Equal,
py::arg("r1"), py::arg("r2"), py::arg("eps")=epsilon);
m.def("Equal", (bool (*)(const VectorVel&, const Vector&, double)) &KDL::Equal,
py::arg("r1"), py::arg("r2"), py::arg("eps")=epsilon);
m.def("dot", (doubleVel (*)(const VectorVel&, const VectorVel&)) &KDL::dot);
m.def("dot", (doubleVel (*)(const VectorVel&, const Vector&)) &KDL::dot);
m.def("dot", (doubleVel (*)(const Vector&, const VectorVel&)) &KDL::dot);
// --------------------
// TwistVel
// --------------------
py::class_<TwistVel> twist_vel(m, "TwistVel");
twist_vel.def_readwrite("vel", &TwistVel::vel);
twist_vel.def_readwrite("rot", &TwistVel::rot);
twist_vel.def(py::init<>());
twist_vel.def(py::init<const VectorVel&, const VectorVel&>(), py::arg("vel"), py::arg("rot"));
twist_vel.def(py::init<const Twist&, const Twist&>(), py::arg("p"), py::arg("v"));
twist_vel.def(py::init<const Twist&>(), py::arg("p"));
twist_vel.def(py::init<const TwistVel&>());
twist_vel.def("value", &TwistVel::value);
twist_vel.def("deriv", &TwistVel::deriv);
twist_vel.def("__repr__", [](const TwistVel &tv)
{
std::ostringstream oss;
oss << tv;
return oss.str();
});
twist_vel.def("__copy__", [](const TwistVel& self)
{
return TwistVel(self);
});
twist_vel.def("__deepcopy__", [](const TwistVel& self, py::dict)
{
return TwistVel(self);
}, py::arg("memo"));
twist_vel.def_static("Zero", &TwistVel::Zero);
twist_vel.def("ReverseSign", &TwistVel::ReverseSign);
twist_vel.def("RefPoint", &TwistVel::RefPoint, py::arg("base"));
twist_vel.def("GetTwist", &TwistVel::GetTwist);
twist_vel.def("GetTwistDot", &TwistVel::GetTwistDot);
twist_vel.def(py::self -= py::self);
twist_vel.def(py::self += py::self);
twist_vel.def(py::self * double());
twist_vel.def(double() * py::self);
twist_vel.def(py::self / double());
twist_vel.def(py::self * doubleVel());
twist_vel.def(doubleVel() * py::self);
twist_vel.def(py::self / doubleVel());
twist_vel.def(py::self + py::self);
twist_vel.def(py::self - py::self);
twist_vel.def(py::self == py::self);
twist_vel.def(py::self != py::self);
twist_vel.def(Twist() == py::self);
twist_vel.def(Twist() != py::self);
twist_vel.def(py::self == Twist());
twist_vel.def(py::self != Twist());
twist_vel.def("__neg__", [](const TwistVel &a)
{
return operator-(a);
}, py::is_operator());
twist_vel.def(py::pickle(
[](const TwistVel &tv)
{ // __getstate__
/* Return a tuple that fully encodes the state of the object */
return py::make_tuple(tv.vel, tv.rot);
},
[](py::tuple t)
{ // __setstate__
if (t.size() != 2)
throw std::runtime_error("Invalid state!");
/* Create a new C++ instance */
TwistVel tv(t[0].cast<VectorVel>(), t[1].cast<VectorVel>());
return tv;
}));
m.def("SetToZero", (void (*)(TwistVel&)) &KDL::SetToZero);
m.def("Equal", (bool (*)(const TwistVel&, const TwistVel&, double)) &KDL::Equal,
py::arg("a"), py::arg("b"), py::arg("eps")=epsilon);
m.def("Equal", (bool (*)(const Twist&, const TwistVel&, double)) &KDL::Equal,
py::arg("a"), py::arg("b"), py::arg("eps")=epsilon);
m.def("Equal", (bool (*)(const TwistVel&, const Twist&, double)) &KDL::Equal,
py::arg("a"), py::arg("b"), py::arg("eps")=epsilon);
// --------------------
// RotationVel
// --------------------
py::class_<RotationVel> rotation_vel(m, "RotationVel");
rotation_vel.def_readwrite("R", &RotationVel::R);
rotation_vel.def_readwrite("w", &RotationVel::w);
rotation_vel.def(py::init<>());
rotation_vel.def(py::init<const Rotation&>(), py::arg("R"));
rotation_vel.def(py::init<const Rotation&, const Vector&>(), py::arg("R"), py::arg("w"));
rotation_vel.def(py::init<const RotationVel&>());
rotation_vel.def("value", &RotationVel::value);
rotation_vel.def("deriv", &RotationVel::deriv);
rotation_vel.def("__repr__", [](const RotationVel &rv)
{
std::ostringstream oss;
oss << rv;
return oss.str();
});
rotation_vel.def("__copy__", [](const RotationVel& self)
{
return RotationVel(self);
});
rotation_vel.def("__deepcopy__", [](const RotationVel& self, py::dict)
{
return RotationVel(self);
}, py::arg("memo"));
rotation_vel.def("UnitX", &RotationVel::UnitX);
rotation_vel.def("UnitY", &RotationVel::UnitY);
rotation_vel.def("UnitZ", &RotationVel::UnitZ);
rotation_vel.def_static("Identity", &RotationVel::Identity);
rotation_vel.def("Inverse", (RotationVel (RotationVel::*)(void) const) &RotationVel::Inverse);
rotation_vel.def("Inverse", (VectorVel (RotationVel::*)(const VectorVel&) const) &RotationVel::Inverse);
rotation_vel.def("Inverse", (VectorVel (RotationVel::*)(const Vector&) const) &RotationVel::Inverse);
rotation_vel.def("DoRotX", &RotationVel::DoRotX);
rotation_vel.def("DoRotY", &RotationVel::DoRotY);
rotation_vel.def("DoRotZ", &RotationVel::DoRotZ);
rotation_vel.def_static("RotX", &RotationVel::RotX);
rotation_vel.def_static("RotY", &RotationVel::RotY);
rotation_vel.def_static("RotZ", &RotationVel::RotZ);
rotation_vel.def_static("Rot", &RotationVel::Rot);
rotation_vel.def_static("Rot2", &RotationVel::Rot2);
rotation_vel.def("Inverse", (TwistVel (RotationVel::*)(const TwistVel&) const) &RotationVel::Inverse);
rotation_vel.def("Inverse", (TwistVel (RotationVel::*)(const Twist&) const) &RotationVel::Inverse);
rotation_vel.def(py::self * VectorVel());
rotation_vel.def(py::self * Vector());
rotation_vel.def(py::self * TwistVel());
rotation_vel.def(py::self * Twist());
rotation_vel.def(py::self * py::self);
rotation_vel.def(Rotation() * py::self);
rotation_vel.def(py::self * Rotation());
rotation_vel.def(py::self == py::self);
rotation_vel.def(py::self != py::self);
rotation_vel.def(Rotation() == py::self);
rotation_vel.def(Rotation() != py::self);
rotation_vel.def(py::self == Rotation());
rotation_vel.def(py::self != Rotation());
rotation_vel.def(py::pickle(
[](const RotationVel &rv)
{ // __getstate__
/* Return a tuple that fully encodes the state of the object */
return py::make_tuple(rv.R, rv.w);
},
[](py::tuple t)
{ // __setstate__
if (t.size() != 2)
throw std::runtime_error("Invalid state!");
/* Create a new C++ instance */
RotationVel rv(t[0].cast<Rotation>(), t[1].cast<Vector>());
return rv;
}));
m.def("Equal", (bool (*)(const RotationVel&, const RotationVel&, double)) &KDL::Equal,
py::arg("r1"), py::arg("r2"), py::arg("eps")=epsilon);
m.def("Equal", (bool (*)(const Rotation&, const RotationVel&, double)) &KDL::Equal,
py::arg("r1"), py::arg("r2"), py::arg("eps")=epsilon);
m.def("Equal", (bool (*)(const RotationVel&, const Rotation&, double)) &KDL::Equal,
py::arg("r1"), py::arg("r2"), py::arg("eps")=epsilon);
// --------------------
// FrameVel
// --------------------
py::class_<FrameVel> frame_vel(m, "FrameVel");
frame_vel.def_readwrite("M", &FrameVel::M);
frame_vel.def_readwrite("p", &FrameVel::p);
frame_vel.def(py::init<>());
frame_vel.def(py::init<const Frame&>(), py::arg("T"));
frame_vel.def(py::init<const Frame&, const Twist&>(), py::arg("T"), py::arg("t"));
frame_vel.def(py::init<const RotationVel&, const VectorVel&>(), py::arg("M"), py::arg("p"));
frame_vel.def(py::init<const FrameVel&>());
frame_vel.def("value", &FrameVel::value);
frame_vel.def("deriv", &FrameVel::deriv);
frame_vel.def("__repr__", [](const FrameVel &fv)
{
std::ostringstream oss;
oss << fv;
return oss.str();
});
frame_vel.def("__copy__", [](const FrameVel& self)
{
return FrameVel(self);
});
frame_vel.def("__deepcopy__", [](const FrameVel& self, py::dict)
{
return FrameVel(self);
}, py::arg("memo"));
frame_vel.def_static("Identity", &FrameVel::Identity);
frame_vel.def("Inverse", (FrameVel (FrameVel::*)() const) &FrameVel::Inverse);
frame_vel.def("Inverse", (VectorVel (FrameVel::*)(const VectorVel&) const) &FrameVel::Inverse);
frame_vel.def("Inverse", (VectorVel (FrameVel::*)(const Vector&) const) &FrameVel::Inverse);
frame_vel.def(py::self * VectorVel());
frame_vel.def(py::self * Vector());
frame_vel.def("GetFrame", &FrameVel::GetFrame);
frame_vel.def("GetTwist", &FrameVel::GetTwist);
frame_vel.def("Inverse", (TwistVel (FrameVel::*)(const TwistVel&) const) &FrameVel::Inverse);
frame_vel.def("Inverse", (TwistVel (FrameVel::*)(const Twist&) const) &FrameVel::Inverse);
frame_vel.def(py::self * TwistVel());
frame_vel.def(py::self * Twist());
frame_vel.def(py::self * py::self);
frame_vel.def(Frame() * py::self);
frame_vel.def(py::self * Frame());
frame_vel.def(py::self == py::self);
frame_vel.def(py::self != py::self);
frame_vel.def(Frame() == py::self);
frame_vel.def(Frame() != py::self);
frame_vel.def(py::self == Frame());
frame_vel.def(py::self != Frame());
frame_vel.def(py::pickle(
[](const FrameVel &fv)
{ // __getstate__
/* Return a tuple that fully encodes the state of the object */
return py::make_tuple(fv.M, fv.p);
},
[](py::tuple t)
{ // __setstate__
if (t.size() != 2)
throw std::runtime_error("Invalid state!");
/* Create a new C++ instance */
FrameVel rv(t[0].cast<RotationVel>(), t[1].cast<VectorVel>());
return rv;
}));
m.def("Equal", (bool (*)(const FrameVel&, const FrameVel&, double)) &KDL::Equal,
py::arg("r1"), py::arg("r2"), py::arg("eps")=epsilon);
m.def("Equal", (bool (*)(const Frame&, const FrameVel&, double)) &KDL::Equal,
py::arg("r1"), py::arg("r2"), py::arg("eps")=epsilon);
m.def("Equal", (bool (*)(const FrameVel&, const Frame&, double)) &KDL::Equal,
py::arg("r1"), py::arg("r2"), py::arg("eps")=epsilon);
// --------------------
// Global
// --------------------
m.def("diff", (VectorVel (*)(const VectorVel&, const VectorVel&, double)) &KDL::diff,
py::arg("a"), py::arg("b"), py::arg("dt")=1.0);
m.def("diff", (VectorVel (*)(const RotationVel&, const RotationVel&, double)) &KDL::diff,
py::arg("a"), py::arg("b"), py::arg("dt")=1.0);
m.def("diff", (TwistVel (*)(const FrameVel&, const FrameVel&, double)) &KDL::diff,
py::arg("a"), py::arg("b"), py::arg("dt")=1.0);
m.def("addDelta", (VectorVel (*)(const VectorVel&, const VectorVel&, double)) &KDL::addDelta,
py::arg("a"), py::arg("da"), py::arg("dt")=1.0);
m.def("addDelta", (RotationVel (*)(const RotationVel&, const VectorVel&, double)) &KDL::addDelta,
py::arg("a"), py::arg("da"), py::arg("dt")=1.0);
m.def("addDelta", (FrameVel (*)(const FrameVel&, const TwistVel&, double)) &KDL::addDelta,
py::arg("a"), py::arg("da"), py::arg("dt")=1.0);
}
|
