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Added Matrix3 pybind11 interface (#325)
Signed-off-by: ahcorde <[email protected]> Signed-off-by: Louise Poubel <[email protected]> Co-authored-by: Louise Poubel <[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__MATRIX3_HH_ | ||
| #define IGNITION_MATH_PYTHON__MATRIX3_HH_ | ||
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| #include <string> | ||
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| #include <pybind11/pybind11.h> | ||
| #include <pybind11/operators.h> | ||
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| #include <ignition/math/Matrix3.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::Matrix3 | ||
| /** | ||
| * \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 defineMathMatrix3(py::module &m, const std::string &typestr) | ||
| { | ||
| using Class = ignition::math::Matrix3<T>; | ||
| auto toString = [](const Class &si) { | ||
| std::stringstream stream; | ||
| stream << si; | ||
| return stream.str(); | ||
| }; | ||
| 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<Class>()) | ||
| .def(py::init<T, T, T, T, T, T, T, T, T>()) | ||
| .def(py::init<const ignition::math::Quaternion<T>&>()) | ||
| .def(py::self - py::self) | ||
| .def(py::self + py::self) | ||
| .def(py::self * py::self) | ||
| .def(py::self * float()) | ||
| .def(py::self * ignition::math::Vector3<T>()) | ||
| // .def(py::self * py::self) | ||
| // .def(py::self += py::self) | ||
| // .def(-py::self) | ||
| // .def(py::self -= py::self) | ||
| .def(py::self == py::self) | ||
| .def(py::self != py::self) | ||
| .def("__call__", | ||
| py::overload_cast<size_t, size_t>(&Class::operator()), | ||
| py::return_value_policy::reference) | ||
| // .def(py::self *= py::self) | ||
| .def("set", | ||
| &Class::Set, | ||
| "Set values") | ||
| .def("axes", | ||
| &Class::Axes, | ||
| "Set the matrix from three axis (1 per column)") | ||
| .def("axis", | ||
| &Class::Axis, | ||
| "Set the matrix from an axis and angle") | ||
| .def("from_2_axes", | ||
| &Class::From2Axes, | ||
| "Set the matrix to represent rotation from " | ||
| "vector _v1 to vector _v2, so that") | ||
| .def("col", | ||
| &Class::Col, | ||
| "Set a column.") | ||
| .def("equal", | ||
| &Class::Equal, | ||
| "Equality test operator") | ||
| .def("determinant", | ||
| &Class::Determinant, | ||
| "Return the determinant of the matrix") | ||
| .def("inverse", | ||
| &Class::Inverse, | ||
| "Return the inverse matrix") | ||
| .def("transpose", | ||
| &Class::Transpose, | ||
| "Transpose this matrix.") | ||
| .def("transposed", | ||
| &Class::Transposed, | ||
| "Return the transpose of this matrix") | ||
| .def("__copy__", [](const Class &self) { | ||
| return Class(self); | ||
| }) | ||
| .def("__deepcopy__", [](const Class &self, py::dict) { | ||
| return Class(self); | ||
| }, "memo"_a) | ||
| .def_readonly_static("IDENTITY", &Class::Identity, "Identity matrix") | ||
| .def_readonly_static("ZERO", &Class::Zero, "Zero matrix") | ||
| .def("__str__", toString) | ||
| .def("__repr__", toString); | ||
| } | ||
| } // namespace python | ||
| } // namespace math | ||
| } // namespace ignition | ||
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| #endif // IGNITION_MATH_PYTHON__MATRIX3_HH_ |
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