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dartpy: Add BallJoint, RevoluteJoint, joint properties, and chain tut…
…orial (incomplete) (dartsim#1335)
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,102 @@ | ||
| /* | ||
| * 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 <pybind11/pybind11.h> | ||
|
|
||
| namespace dart { | ||
| namespace python { | ||
|
|
||
| void Composite(pybind11::module& m) | ||
| { | ||
| ::pybind11:: | ||
| class_<dart::common::Composite, std::shared_ptr<dart::common::Composite>>( | ||
| m, "Composite") | ||
| .def(::pybind11::init<>()) | ||
| .def( | ||
| "setCompositeState", | ||
| +[](dart::common::Composite* self, | ||
| const dart::common::Composite::State& newStates) { | ||
| self->setCompositeState(newStates); | ||
| }, | ||
| ::pybind11::arg("newStates")) | ||
| .def( | ||
| "getCompositeState", | ||
| +[](const dart::common::Composite* self) | ||
| -> dart::common::Composite::State { | ||
| return self->getCompositeState(); | ||
| }) | ||
| .def( | ||
| "copyCompositeStateTo", | ||
| +[](const dart::common::Composite* self, | ||
| dart::common::Composite::State& outgoingStates) { | ||
| self->copyCompositeStateTo(outgoingStates); | ||
| }, | ||
| ::pybind11::arg("outgoingStates")) | ||
| .def( | ||
| "setCompositeProperties", | ||
| +[](dart::common::Composite* self, | ||
| const dart::common::Composite::Properties& newProperties) { | ||
| self->setCompositeProperties(newProperties); | ||
| }, | ||
| ::pybind11::arg("newProperties")) | ||
| .def( | ||
| "getCompositeProperties", | ||
| +[](const dart::common::Composite* self) | ||
| -> dart::common::Composite::Properties { | ||
| return self->getCompositeProperties(); | ||
| }) | ||
| .def( | ||
| "copyCompositePropertiesTo", | ||
| +[](const dart::common::Composite* self, | ||
| dart::common::Composite::Properties& outgoingProperties) { | ||
| self->copyCompositePropertiesTo(outgoingProperties); | ||
| }, | ||
| ::pybind11::arg("outgoingProperties")) | ||
| .def( | ||
| "duplicateAspects", | ||
| +[](dart::common::Composite* self, | ||
| const dart::common::Composite* fromComposite) { | ||
| self->duplicateAspects(fromComposite); | ||
| }, | ||
| ::pybind11::arg("fromComposite")) | ||
| .def( | ||
| "matchAspects", | ||
| +[](dart::common::Composite* self, | ||
| const dart::common::Composite* otherComposite) { | ||
| self->matchAspects(otherComposite); | ||
| }, | ||
| ::pybind11::arg("otherComposite")); | ||
| } | ||
|
|
||
| } // namespace python | ||
| } // namespace dart |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,112 @@ | ||
| /* | ||
| * 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> | ||
|
|
||
| namespace dart { | ||
| namespace python { | ||
|
|
||
| void BallJoint(pybind11::module& m) | ||
| { | ||
| ::pybind11::class_< | ||
| dart::dynamics::BallJoint::Properties, | ||
| dart::dynamics::detail::GenericJointProperties<dart::math::SO3Space>>( | ||
| m, "BallJointProperties") | ||
| .def(::pybind11::init<>()) | ||
| .def( | ||
| ::pybind11::init<const dart::dynamics::GenericJoint< | ||
| dart::math::SO3Space>::Properties&>(), | ||
| ::pybind11::arg("properties")); | ||
|
|
||
| ::pybind11::class_< | ||
| dart::dynamics::BallJoint, | ||
| dart::dynamics::GenericJoint<dart::math::SO3Space>, | ||
| std::shared_ptr<dart::dynamics::BallJoint>>(m, "BallJoint") | ||
| .def( | ||
| "getType", | ||
| +[](const dart::dynamics::BallJoint* self) -> const std::string& { | ||
| return self->getType(); | ||
| }, | ||
| ::pybind11::return_value_policy::reference_internal) | ||
| .def( | ||
| "isCyclic", | ||
| +[](const dart::dynamics::BallJoint* self, | ||
| std::size_t _index) -> bool { return self->isCyclic(_index); }, | ||
| ::pybind11::arg("index")) | ||
| .def( | ||
| "getBallJointProperties", | ||
| +[](const dart::dynamics::BallJoint* self) | ||
| -> dart::dynamics::BallJoint::Properties { | ||
| return self->getBallJointProperties(); | ||
| }) | ||
| .def( | ||
| "getRelativeJacobianStatic", | ||
| +[](const dart::dynamics::BallJoint* self, | ||
| const Eigen::Vector3d& _positions) | ||
| -> Eigen::Matrix<double, 6, 3> { | ||
| return self->getRelativeJacobianStatic(_positions); | ||
| }, | ||
| ::pybind11::arg("positions")) | ||
| .def( | ||
| "getPositionDifferencesStatic", | ||
| +[](const dart::dynamics::BallJoint* self, | ||
| const Eigen::Vector3d& _q2, | ||
| const Eigen::Vector3d& _q1) -> Eigen::Vector3d { | ||
| return self->getPositionDifferencesStatic(_q2, _q1); | ||
| }, | ||
| ::pybind11::arg("q2"), | ||
| ::pybind11::arg("q1")) | ||
| .def_static( | ||
| "getStaticType", | ||
| +[]() -> const std::string& { | ||
| return dart::dynamics::BallJoint::getStaticType(); | ||
| }, | ||
| ::pybind11::return_value_policy::reference_internal) | ||
| .def_static( | ||
| "convertToTransform", | ||
| +[](const Eigen::Vector3d& _positions) -> Eigen::Isometry3d { | ||
| return dart::dynamics::BallJoint::convertToTransform(_positions); | ||
| }, | ||
| ::pybind11::arg("positions")) | ||
| .def_static( | ||
| "convertToRotation", | ||
| +[](const Eigen::Vector3d& _positions) -> Eigen::Matrix3d { | ||
| return dart::dynamics::BallJoint::convertToRotation(_positions); | ||
| }, | ||
| ::pybind11::arg("positions")); | ||
| } | ||
|
|
||
| } // namespace python | ||
| } // namespace dart |
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