-
Notifications
You must be signed in to change notification settings - Fork 67
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Merge branch 'ign-math6' into ahcorde/pybind11/material
- Loading branch information
Showing
16 changed files
with
913 additions
and
21 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,315 @@ | ||
| /* | ||
| * Copyright (C) 2021 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
|
|
||
| #ifndef IGNITION_MATH_PYTHON__FILTER_HH_ | ||
| #define IGNITION_MATH_PYTHON__FILTER_HH_ | ||
|
|
||
| #include <string> | ||
|
|
||
| #include <pybind11/pybind11.h> | ||
|
|
||
| #include <ignition/math/Filter.hh> | ||
| #include <ignition/math/Quaternion.hh> | ||
| #include <ignition/math/Vector3.hh> | ||
|
|
||
| namespace py = pybind11; | ||
|
|
||
| namespace ignition | ||
| { | ||
| namespace math | ||
| { | ||
| namespace python | ||
| { | ||
| template<typename T> | ||
| class FilterTrampoline : public Filter<T> { | ||
| public: | ||
| // Inherit the constructors | ||
| FilterTrampoline() : Filter<T>() {} | ||
|
|
||
| // Trampoline (need one for each virtual function) | ||
| void Set(const T &_val) override | ||
| { | ||
| PYBIND11_OVERLOAD_PURE( | ||
| void, // Return type (ret_type) | ||
| Filter<T>, // Parent class (cname) | ||
| Set, // Name of function in C++ | ||
| _val // Argument(s) (...) | ||
| ); | ||
| } | ||
| // Trampoline (need one for each virtual function) | ||
| void Fc(double _fc, double _fs) override | ||
| { | ||
| PYBIND11_OVERLOAD_PURE( | ||
| void, // Return type (ret_type) | ||
| Filter<T>, // Parent class (cname) | ||
| Fc, // Name of function in C++ (must match Python name) | ||
| _fc, _fs // Argument(s) (...) | ||
| ); | ||
| } | ||
| // Trampoline (need one for each virtual function) | ||
| const T &Value() const override | ||
| { | ||
| PYBIND11_OVERLOAD_PURE( | ||
| const T&, // Return type (ret_type) | ||
| Filter<T>, // Parent class (cname) | ||
| Value // Name of function in C++ (must match Python name) | ||
| ); | ||
| } | ||
| }; | ||
|
|
||
| /// Define a pybind11 wrapper for an ignition::math::Filter | ||
| /** | ||
| * \param[in] module a pybind11 module to add the definition to | ||
| * \param[in] typestr name of the type used by Python | ||
| */ | ||
| template<typename T> | ||
| void defineMathFilter(py::module &m, const std::string &typestr) | ||
| { | ||
| using Class = ignition::math::Filter<T>; | ||
| std::string pyclass_name = typestr; | ||
| py::class_<Class, FilterTrampoline<T>>(m, | ||
| pyclass_name.c_str(), | ||
| py::buffer_protocol(), | ||
| py::dynamic_attr()) | ||
| .def(py::init<>()) | ||
| .def("set", | ||
| &Class::Set, | ||
| "Set the output of the filter.") | ||
| .def("fc", | ||
| &Class::Fc, | ||
| "Set the cutoff frequency and sample rate.") | ||
| .def("value", | ||
| &Class::Value, | ||
| "Get the output of the filter."); | ||
| } | ||
|
|
||
| template<typename T> | ||
| class OnePoleTrampoline : public OnePole<T> { | ||
| public: | ||
| OnePoleTrampoline() : OnePole<T>() {} | ||
| OnePoleTrampoline(double _fc, double _fs) : OnePole<T>(_fc, _fs) {} | ||
|
|
||
| // Trampoline (need one for each virtual function) | ||
| void Fc(double _fc, double _fs) override | ||
| { | ||
| PYBIND11_OVERLOAD_PURE( | ||
| void, // Return type (ret_type) | ||
| OnePole<T>, // Parent class (cname) | ||
| Fc, // Name of function in C++ (must match Python name) | ||
| _fc, // Argument(s) (...) | ||
| _fs | ||
| ); | ||
| } | ||
| }; | ||
|
|
||
| /// Define a pybind11 wrapper for an ignition::math::OnePole | ||
| /** | ||
| * \param[in] module a pybind11 module to add the definition to | ||
| * \param[in] typestr name of the type used by Python | ||
| */ | ||
| template<typename T> | ||
| void defineMathOnePole(py::module &m, const std::string &typestr) | ||
| { | ||
| using Class = ignition::math::OnePole<T>; | ||
| std::string pyclass_name = typestr; | ||
| py::class_<Class, OnePoleTrampoline<T>>(m, | ||
| pyclass_name.c_str(), | ||
| py::buffer_protocol(), | ||
| py::dynamic_attr()) | ||
| .def(py::init<>()) | ||
| .def(py::init<double, double>()) | ||
| .def("set", | ||
| &Class::Set, | ||
| "Set the output of the filter.") | ||
| .def("value", | ||
| &Class::Value, | ||
| "Get the output of the filter.") | ||
| .def("fc", | ||
| &Class::Fc, | ||
| "Set the cutoff frequency and sample rate.") | ||
| .def("process", | ||
| &Class::Process, | ||
| "Update the filter's output."); | ||
| } | ||
|
|
||
| /// Define a pybind11 wrapper for an ignition::math::OnePoleQuaterion | ||
| /** | ||
| * \param[in] module a pybind11 module to add the definition to | ||
| * \param[in] typestr name of the type used by Python | ||
| */ | ||
| void defineMathOnePoleQuaternion(py::module &m, const std::string &typestr) | ||
| { | ||
| using Class = ignition::math::OnePoleQuaternion; | ||
| std::string pyclass_name = typestr; | ||
| py::class_<Class>(m, | ||
| pyclass_name.c_str(), | ||
| py::buffer_protocol(), | ||
| py::dynamic_attr()) | ||
| .def(py::init<>()) | ||
| .def(py::init<double, double>()) | ||
| .def("set", | ||
| &Class::Set, | ||
| "Set the output of the filter.") | ||
| .def("value", | ||
| &Class::Value, | ||
| "Get the output of the filter.") | ||
| .def("fc", | ||
| &Class::Fc, | ||
| "Set the cutoff frequency and sample rate.") | ||
| .def("process", | ||
| &Class::Process, | ||
| "Update the filter's output."); | ||
| } | ||
|
|
||
| /// Define a pybind11 wrapper for an ignition::math::OnePoleVector3 | ||
| /** | ||
| * \param[in] module a pybind11 module to add the definition to | ||
| * \param[in] typestr name of the type used by Python | ||
| */ | ||
| void defineMathOnePoleVector3(py::module &m, const std::string &typestr) | ||
| { | ||
| using Class = ignition::math::OnePoleVector3; | ||
| std::string pyclass_name = typestr; | ||
| py::class_<Class>(m, | ||
| pyclass_name.c_str(), | ||
| py::buffer_protocol(), | ||
| py::dynamic_attr()) | ||
| .def(py::init<>()) | ||
| .def(py::init<double, double>()) | ||
| .def("set", | ||
| &Class::Set, | ||
| "Set the output of the filter.") | ||
| .def("value", | ||
| &Class:: | ||
| Value, | ||
| "Get the output of the filter.") | ||
| .def("fc", | ||
| &Class::Fc, | ||
| "Set the cutoff frequency and sample rate.") | ||
| .def("process", | ||
| &Class::Process, | ||
| "Update the filter's output."); | ||
| } | ||
|
|
||
| template<typename T> | ||
| class BiQuadTrampoline : public BiQuad<T> | ||
| { | ||
| public: | ||
| BiQuadTrampoline() : BiQuad<T>() {} | ||
| BiQuadTrampoline(double _fc, double _fs) : BiQuad<T>(_fc, _fs) {} | ||
|
|
||
| // Trampoline (need one for each virtual function) | ||
| void Fc(double _fc, double _fs) override | ||
| { | ||
| PYBIND11_OVERLOAD_PURE( | ||
| void, // Return type (ret_type) | ||
| Filter<T>, // Parent class (cname) | ||
| Fc, // Name of function in C++ (must match Python name) | ||
| _fc, _fs // Argument(s) (...) | ||
| ); | ||
| } | ||
| // Trampoline (need one for each virtual function) | ||
| void Set(const T &_val) override | ||
| { | ||
| PYBIND11_OVERLOAD_PURE( | ||
| void, // Return type (ret_type) | ||
| Filter<T>, // Parent class (cname) | ||
| Set, // Name of function in C++ (must match Python name) | ||
| _val // Argument(s) (...) | ||
| ); | ||
| } | ||
| // Trampoline (need one for each virtual function) | ||
| const T& Process(const T &_x) override | ||
| { | ||
| PYBIND11_OVERLOAD_PURE( | ||
| const T&, // Return type (ret_type) | ||
| Filter<T>, // Parent class (cname) | ||
| Process, // Name of function in C++ (must match Python name) | ||
| _x // Argument(s) (...) | ||
| ); | ||
| } | ||
| }; | ||
|
|
||
| /// Define a pybind11 wrapper for an ignition::math::BiQuad | ||
| /** | ||
| * \param[in] module a pybind11 module to add the definition to | ||
| * \param[in] typestr name of the type used by Python | ||
| */ | ||
| template<typename T> | ||
| void defineMathBiQuad(py::module &m, const std::string &typestr) | ||
| { | ||
| using Class = ignition::math::BiQuad<T>; | ||
| std::string pyclass_name = typestr; | ||
| py::class_<Class, BiQuadTrampoline<T>>(m, | ||
| pyclass_name.c_str(), | ||
| py::buffer_protocol(), | ||
| py::dynamic_attr()) | ||
| .def(py::init<>()) | ||
| .def(py::init<double, double>()) | ||
| .def("set", | ||
| &Class::Set, | ||
| "Set the output of the filter.") | ||
| .def("fc", | ||
| py::overload_cast<double, double>(&Class::Fc), | ||
| "Set the cutoff frequency and sample rate.") | ||
| .def("value", | ||
| &Class::Value, | ||
| "Get the output of the filter.") | ||
| .def("fc", | ||
| py::overload_cast<double, double, double>(&Class::Fc), | ||
| "Set the cutoff frequency, sample rate and Q coefficient.") | ||
| .def("process", | ||
| &Class::Process, | ||
| "Update the filter's output."); | ||
| } | ||
|
|
||
| /// Define a pybind11 wrapper for an ignition::math::BiQuadVector3 | ||
| /** | ||
| * \param[in] module a pybind11 module to add the definition to | ||
| * \param[in] typestr name of the type used by Python | ||
| */ | ||
| void defineMathBiQuadVector3(py::module &m, const std::string &typestr) | ||
| { | ||
| using Class = ignition::math::BiQuadVector3; | ||
| std::string pyclass_name = typestr; | ||
| py::class_<Class>(m, | ||
| pyclass_name.c_str(), | ||
| py::buffer_protocol(), | ||
| py::dynamic_attr()) | ||
| .def(py::init<>()) | ||
| .def(py::init<double, double>()) | ||
| .def("set", | ||
| &Class::Set, | ||
| "Set the output of the filter.") | ||
| .def("fc", | ||
| py::overload_cast<double, double>(&Class::Fc), | ||
| "Set the cutoff frequency and sample rate.") | ||
| .def("value", | ||
| &Class::Value, | ||
| "Get the output of the filter.") | ||
| .def("fc", | ||
| py::overload_cast<double, double, double>(&Class::Fc), | ||
| "Set the cutoff frequency, sample rate and Q coefficient.") | ||
| .def("process", | ||
| &Class::Process, | ||
| "Update the filter's output."); | ||
| } | ||
| } // namespace python | ||
| } // namespace math | ||
| } // namespace ignition | ||
|
|
||
| #endif // IGNITION_MATH_PYTHON__FILTER_HH_ |
Oops, something went wrong.