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[dartpy] Add all the joint types (#1337)
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| /* | ||
| * Copyright (c) 2011-2019, 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 dart { | ||
| namespace python { | ||
|
|
||
| void EulerJoint(pybind11::module& m) | ||
| { | ||
| ::pybind11::class_<dart::dynamics::EulerJoint::UniqueProperties>( | ||
| m, "EulerJointUniqueProperties") | ||
| .def(::pybind11::init<>()) | ||
| .def( | ||
| ::pybind11::init<dart::dynamics::detail::AxisOrder>(), | ||
| ::pybind11::arg("axisOrder")); | ||
|
|
||
| ::pybind11::class_< | ||
| dart::dynamics::EulerJoint::Properties, | ||
| dart::dynamics::GenericJoint<math::R3Space>::Properties, | ||
| dart::dynamics::EulerJoint::UniqueProperties>(m, "EulerJointProperties") | ||
| .def(::pybind11::init<>()) | ||
| .def( | ||
| ::pybind11::init<const dart::dynamics::GenericJoint< | ||
| dart::math::R3Space>::Properties&>(), | ||
| ::pybind11::arg("genericJointProperties")) | ||
| .def( | ||
| ::pybind11::init< | ||
| const dart::dynamics::GenericJoint< | ||
| dart::math::R3Space>::Properties&, | ||
| const dart::dynamics::EulerJoint::UniqueProperties&>(), | ||
| ::pybind11::arg("genericJointProperties"), | ||
| ::pybind11::arg("uniqueProperties")) | ||
| .def_readwrite( | ||
| "mAxisOrder", | ||
| &dart::dynamics::detail::EulerJointUniqueProperties::mAxisOrder); | ||
|
|
||
| DARTPY_DEFINE_JOINT_COMMON_BASE(EulerJoint, R3Space) | ||
|
|
||
| ::pybind11::class_< | ||
| dart::dynamics::EulerJoint, | ||
| dart::common::EmbedPropertiesOnTopOf< | ||
| dart::dynamics::EulerJoint, | ||
| dart::dynamics::detail::EulerJointUniqueProperties, | ||
| dart::dynamics::GenericJoint<dart::math::RealVectorSpace<3>>>, | ||
| std::shared_ptr<dart::dynamics::EulerJoint>>(m, "EulerJoint") | ||
| .def( | ||
| "hasEulerJointAspect", | ||
| +[](const dart::dynamics::EulerJoint* self) -> bool { | ||
| return self->hasEulerJointAspect(); | ||
| }) | ||
| .def( | ||
| "setEulerJointAspect", | ||
| +[](dart::dynamics::EulerJoint* self, | ||
| const dart::common::EmbedPropertiesOnTopOf< | ||
| dart::dynamics::EulerJoint, | ||
| dart::dynamics::detail::EulerJointUniqueProperties, | ||
| dart::dynamics::GenericJoint< | ||
| dart::math::RealVectorSpace<3>>>::Aspect* aspect) { | ||
| self->setEulerJointAspect(aspect); | ||
| }, | ||
| ::pybind11::arg("aspect")) | ||
| .def( | ||
| "removeEulerJointAspect", | ||
| +[](dart::dynamics::EulerJoint* self) { | ||
| self->removeEulerJointAspect(); | ||
| }) | ||
| .def( | ||
| "releaseEulerJointAspect", | ||
| +[](dart::dynamics::EulerJoint* self) | ||
| -> std::unique_ptr<dart::common::EmbedPropertiesOnTopOf< | ||
| dart::dynamics::EulerJoint, | ||
| dart::dynamics::detail::EulerJointUniqueProperties, | ||
| dart::dynamics::GenericJoint< | ||
| dart::math::RealVectorSpace<3>>>::Aspect> { | ||
| return self->releaseEulerJointAspect(); | ||
| }) | ||
| .def( | ||
| "setProperties", | ||
| +[](dart::dynamics::EulerJoint* self, | ||
| const dart::dynamics::EulerJoint::Properties& _properties) { | ||
| self->setProperties(_properties); | ||
| }, | ||
| ::pybind11::arg("properties")) | ||
| .def( | ||
| "setProperties", | ||
| +[](dart::dynamics::EulerJoint* self, | ||
| const dart::dynamics::EulerJoint::UniqueProperties& _properties) { | ||
| self->setProperties(_properties); | ||
| }, | ||
| ::pybind11::arg("properties")) | ||
| .def( | ||
| "setAspectProperties", | ||
| +[](dart::dynamics::EulerJoint* self, | ||
| const dart::common::EmbedPropertiesOnTopOf< | ||
| dart::dynamics::EulerJoint, | ||
| dart::dynamics::detail::EulerJointUniqueProperties, | ||
| dart::dynamics::GenericJoint< | ||
| dart::math::RealVectorSpace<3>>>::AspectProperties& | ||
| properties) { self->setAspectProperties(properties); }, | ||
| ::pybind11::arg("properties")) | ||
| .def( | ||
| "getEulerJointProperties", | ||
| +[](const dart::dynamics::EulerJoint* self) | ||
| -> dart::dynamics::EulerJoint::Properties { | ||
| return self->getEulerJointProperties(); | ||
| }) | ||
| .def( | ||
| "copy", | ||
| +[](dart::dynamics::EulerJoint* self, | ||
| const dart::dynamics::EulerJoint* _otherJoint) { | ||
| self->copy(_otherJoint); | ||
| }, | ||
| ::pybind11::arg("otherJoint")) | ||
| .def( | ||
| "getType", | ||
| +[](const dart::dynamics::EulerJoint* self) -> const std::string& { | ||
| return self->getType(); | ||
| }, | ||
| ::pybind11::return_value_policy::reference_internal) | ||
| .def( | ||
| "isCyclic", | ||
| +[](const dart::dynamics::EulerJoint* self, | ||
| std::size_t _index) -> bool { return self->isCyclic(_index); }, | ||
| ::pybind11::arg("index")) | ||
| .def( | ||
| "setAxisOrder", | ||
| +[](dart::dynamics::EulerJoint* self, | ||
| dart::dynamics::EulerJoint::AxisOrder _order) { | ||
| self->setAxisOrder(_order); | ||
| }, | ||
| ::pybind11::arg("order")) | ||
| .def( | ||
| "setAxisOrder", | ||
| +[](dart::dynamics::EulerJoint* self, | ||
| dart::dynamics::EulerJoint::AxisOrder _order, | ||
| bool _renameDofs) { self->setAxisOrder(_order, _renameDofs); }, | ||
| ::pybind11::arg("order"), | ||
| ::pybind11::arg("renameDofs")) | ||
| .def( | ||
| "getAxisOrder", | ||
| +[](const dart::dynamics::EulerJoint* self) | ||
| -> dart::dynamics::EulerJoint::AxisOrder { | ||
| return self->getAxisOrder(); | ||
| }) | ||
| .def( | ||
| "convertToTransform", | ||
| +[](const dart::dynamics::EulerJoint* self, | ||
| const Eigen::Vector3d& _positions) -> Eigen::Isometry3d { | ||
| return self->convertToTransform(_positions); | ||
| }, | ||
| ::pybind11::arg("positions")) | ||
| .def( | ||
| "convertToRotation", | ||
| +[](const dart::dynamics::EulerJoint* self, | ||
| const Eigen::Vector3d& _positions) -> Eigen::Matrix3d { | ||
| return self->convertToRotation(_positions); | ||
| }, | ||
| ::pybind11::arg("positions")) | ||
| .def( | ||
| "getRelativeJacobianStatic", | ||
| +[](const dart::dynamics::EulerJoint* self, | ||
| const Eigen::Vector3d& _positions) | ||
| -> Eigen::Matrix<double, 6, 3> { | ||
| return self->getRelativeJacobianStatic(_positions); | ||
| }, | ||
| ::pybind11::arg("positions")) | ||
| .def_static( | ||
| "getStaticType", | ||
| +[]() -> const std:: | ||
| string& { | ||
| return dart::dynamics::EulerJoint::getStaticType(); | ||
| }, | ||
| ::pybind11::return_value_policy::reference_internal) | ||
| .def_static( | ||
| "convertToTransformOf", | ||
| +[](const Eigen::Vector3d& _positions, | ||
| dart::dynamics::EulerJoint::AxisOrder _ordering) | ||
| -> Eigen::Isometry3d { | ||
| return dart::dynamics::EulerJoint::convertToTransform( | ||
| _positions, _ordering); | ||
| }, | ||
| ::pybind11::arg("positions"), | ||
| ::pybind11::arg("ordering")) | ||
| .def_static( | ||
| "convertToRotationOf", | ||
| +[](const Eigen::Vector3d& _positions, | ||
| dart::dynamics::EulerJoint::AxisOrder _ordering) | ||
| -> Eigen::Matrix3d { | ||
| return dart::dynamics::EulerJoint::convertToRotation( | ||
| _positions, _ordering); | ||
| }, | ||
| ::pybind11::arg("positions"), | ||
| ::pybind11::arg("ordering")); | ||
| } | ||
|
|
||
| } // namespace python | ||
| } // namespace dart |
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