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Added Inertial pybind11 interface (#349)
Signed-off-by: Alejandro Hernández <[email protected]>
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| /* | ||
| * 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. | ||
| * | ||
| */ | ||
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| #ifndef IGNITION_MATH_PYTHON__INERTIAL_HH_ | ||
| #define IGNITION_MATH_PYTHON__INERTIAL_HH_ | ||
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| #include <string> | ||
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| #include <pybind11/pybind11.h> | ||
| #include <pybind11/operators.h> | ||
| #include <pybind11/stl.h> | ||
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| #include <ignition/math/Inertial.hh> | ||
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| namespace py = pybind11; | ||
| using namespace pybind11::literals; | ||
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| namespace ignition | ||
| { | ||
| namespace math | ||
| { | ||
| namespace python | ||
| { | ||
| /// Define a pybind11 wrapper for an ignition::math::Inertial | ||
| /** | ||
| * \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 defineMathInertial(py::module &m, const std::string &typestr) | ||
| { | ||
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| using Class = ignition::math::Inertial<T>; | ||
| 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<const ignition::math::MassMatrix3<T>&, | ||
| const ignition::math::Pose3<T>&>()) | ||
| .def(py::init<const Class&>()) | ||
| .def(py::self == py::self) | ||
| .def(py::self != py::self) | ||
| .def(py::self += py::self) | ||
| .def(py::self + py::self) | ||
| .def("set_mass_matrix", | ||
| &Class::SetMassMatrix, | ||
| py::arg("_m") = ignition::math::MassMatrix3<T>(), | ||
| py::arg("_tolerance") = IGN_MASSMATRIX3_DEFAULT_TOLERANCE<T>, | ||
| "Set the mass and inertia matrix.") | ||
| .def("mass_matrix", | ||
| &Class::MassMatrix, | ||
| py::return_value_policy::reference, | ||
| "Get the mass and inertia matrix.") | ||
| .def("set_pose", | ||
| &Class::SetPose, | ||
| "Set the pose of the center of mass reference frame.") | ||
| .def("pose", | ||
| &Class::Pose, | ||
| py::return_value_policy::reference, | ||
| "Get the pose of the center of mass reference frame.") | ||
| .def("moi", | ||
| &Class::Moi, | ||
| "Get the moment of inertia matrix computer about the body's " | ||
| "center of mass and expressed in this Inertial object’s frame F.") | ||
| .def("set_inertial_rotation", | ||
| &Class::SetInertialRotation, | ||
| "Set the inertial pose rotation without affecting the " | ||
| "MOI in the base coordinate frame.") | ||
| .def("set_mass_matrix_rotation", | ||
| &Class::SetMassMatrixRotation, | ||
| py::arg("_q") = ignition::math::Quaternion<T>::Identity, | ||
| py::arg("_tol") = 1e-6, | ||
| py::return_value_policy::reference, | ||
| "Set the MassMatrix rotation (eigenvectors of inertia matrix) " | ||
| "without affecting the MOI in the base coordinate frame.") | ||
| .def("__copy__", [](const Class &self) { | ||
| return Class(self); | ||
| }) | ||
| .def("__deepcopy__", [](const Class &self, py::dict) { | ||
| return Class(self); | ||
| }, "memo"_a); | ||
| } | ||
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| } // namespace python | ||
| } // namespace math | ||
| } // namespace ignition | ||
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| #endif // IGNITION_MATH_PYTHON__INERTIAL_HH_ |
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