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//
// Copyright (c) 2015-2022 CNRS INRIA
//
#ifndef __pinocchio_python_multibody_data_hpp__
#define __pinocchio_python_multibody_data_hpp__
#include <boost/python.hpp>
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/serialization/data.hpp"
#include <eigenpy/memory.hpp>
#include <eigenpy/eigen-to-python.hpp>
#include <eigenpy/exception.hpp>
#include "pinocchio/bindings/python/serialization/serializable.hpp"
#include "pinocchio/bindings/python/utils/std-vector.hpp"
#include "pinocchio/bindings/python/utils/std-aligned-vector.hpp"
#include "pinocchio/bindings/python/utils/copyable.hpp"
#if EIGENPY_VERSION_AT_MOST(2,8,1)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::Data)
#endif
namespace pinocchio
{
namespace python
{
namespace bp = boost::python;
template<typename Data>
struct PickleData : bp::pickle_suite
{
static bp::tuple getinitargs(const Data &)
{
return bp::make_tuple();
}
static bp::tuple getstate(const Data & data)
{
const std::string str(data.saveToString());
return bp::make_tuple(bp::str(str));
}
static void setstate(Data & data, bp::tuple tup)
{
if(bp::len(tup) == 0 || bp::len(tup) > 1)
{
throw eigenpy::Exception("Pickle was not able to reconstruct the model from the loaded data.\n"
"The pickle data structure contains too many elements.");
}
bp::object py_obj = tup[0];
boost::python::extract<std::string> obj_as_string(py_obj.ptr());
if(obj_as_string.check())
{
const std::string str = obj_as_string;
data.loadFromString(str);
}
else
{
throw eigenpy::Exception("Pickle was not able to reconstruct the model from the loaded data.\n"
"The entry is not a string.");
}
}
static bool getstate_manages_dict() { return true; }
};
struct DataPythonVisitor
: public boost::python::def_visitor< DataPythonVisitor >
{
typedef Data::Matrix6x Matrix6x;
typedef Data::Matrix3x Matrix3x;
typedef Data::Vector3 Vector3;
public:
#define ADD_DATA_PROPERTY(NAME,DOC) \
def_readwrite(#NAME, \
&Data::NAME, \
DOC)
#define ADD_DATA_PROPERTY_READONLY(NAME,DOC) \
def_readonly(#NAME, \
&Data::NAME, \
DOC)
#define ADD_DATA_PROPERTY_READONLY_BYVALUE(NAME,DOC) \
add_property(#NAME, \
make_getter(&Data::NAME,bp::return_value_policy<bp::return_by_value>()), \
DOC)
/* --- Exposing C++ API to python through the handler ----------------- */
template<class PyClass>
void visit(PyClass& cl) const
{
cl
.def(bp::init<>(bp::arg("self"),"Default constructor."))
.def(bp::init<Model>(bp::arg("model"),"Constructs a data structure from a given model."))
.ADD_DATA_PROPERTY(a,"Joint spatial acceleration")
.ADD_DATA_PROPERTY(oa,
"Joint spatial acceleration expressed at the origin of the world frame.")
.ADD_DATA_PROPERTY(a_gf,
"Joint spatial acceleration containing also the contribution of the gravity acceleration")
.ADD_DATA_PROPERTY(oa_gf,"Joint spatial acceleration containing also the contribution of the gravity acceleration, but expressed at the origin of the world frame.")
.ADD_DATA_PROPERTY(v,"Joint spatial velocity expressed in the joint frame.")
.ADD_DATA_PROPERTY(ov,"Joint spatial velocity expressed at the origin of the world frame.")
.ADD_DATA_PROPERTY(f,"Joint spatial force expresssed in the joint frame.")
.ADD_DATA_PROPERTY(of,"Joint spatial force expresssed at the origin of the world frame.")
.ADD_DATA_PROPERTY(h,"Vector of spatial momenta expressed in the local frame of the joint.")
.ADD_DATA_PROPERTY(oMi,"Body absolute placement (wrt world)")
.ADD_DATA_PROPERTY(oMf,"frames absolute placement (wrt world)")
.ADD_DATA_PROPERTY(liMi,"Body relative placement (wrt parent)")
.ADD_DATA_PROPERTY(tau,"Joint torques (output of RNEA)")
.ADD_DATA_PROPERTY(nle,"Non Linear Effects (output of nle algorithm)")
.ADD_DATA_PROPERTY(ddq,"Joint accelerations (output of ABA)")
.ADD_DATA_PROPERTY(Ycrb,"Inertia of the sub-tree composit rigid body")
.ADD_DATA_PROPERTY(M,"The joint space inertia matrix")
.ADD_DATA_PROPERTY(Minv,"The inverse of the joint space inertia matrix")
.ADD_DATA_PROPERTY(C,"The Coriolis C(q,v) matrix such that the Coriolis effects are given by c(q,v) = C(q,v)v")
.ADD_DATA_PROPERTY(g,"Vector of generalized gravity (dim model.nv).")
.ADD_DATA_PROPERTY(Fcrb,"Spatial forces set, used in CRBA")
.ADD_DATA_PROPERTY(lastChild,"Index of the last child (for CRBA)")
.ADD_DATA_PROPERTY(nvSubtree,"Dimension of the subtree motion space (for CRBA)")
.ADD_DATA_PROPERTY(U,"Joint Inertia square root (upper triangle)")
.ADD_DATA_PROPERTY(D,"Diagonal of UDUT inertia decomposition")
.ADD_DATA_PROPERTY(parents_fromRow,"First previous non-zero row in M (used in Cholesky)")
.ADD_DATA_PROPERTY(nvSubtree_fromRow,"Subtree of the current row index (used in Cholesky)")
.ADD_DATA_PROPERTY(J,"Jacobian of joint placement")
.ADD_DATA_PROPERTY(dJ,"Time variation of the Jacobian of joint placement (data.J).")
.ADD_DATA_PROPERTY(iMf,"Body placement wrt to algorithm end effector.")
.ADD_DATA_PROPERTY(Ivx,"Right variation of the inertia matrix.")
.ADD_DATA_PROPERTY(vxI,"Left variation of the inertia matrix.")
.ADD_DATA_PROPERTY(B,"Combined variations of the inertia matrix consistent with Christoffel symbols.")
.ADD_DATA_PROPERTY(Ag,
"Centroidal matrix which maps from joint velocity to the centroidal momentum.")
.ADD_DATA_PROPERTY(dAg,
"Time derivative of the centroidal momentum matrix Ag.")
.ADD_DATA_PROPERTY(hg,
"Centroidal momentum (expressed in the frame centered at the CoM and aligned with the world frame).")
.ADD_DATA_PROPERTY(dhg,
"Centroidal momentum time derivative (expressed in the frame centered at the CoM and aligned with the world frame).")
.ADD_DATA_PROPERTY(Ig,
"Centroidal Composite Rigid Body Inertia.")
.ADD_DATA_PROPERTY(com,"CoM position of the subtree starting at joint index i.")
.ADD_DATA_PROPERTY(vcom,"CoM velocity of the subtree starting at joint index i.")
.ADD_DATA_PROPERTY(acom,"CoM acceleration of the subtree starting at joint index i.")
.ADD_DATA_PROPERTY(mass,"Mass of the subtree starting at joint index i.")
.ADD_DATA_PROPERTY(Jcom,"Jacobian of center of mass.")
.ADD_DATA_PROPERTY(dtau_dq,"Partial derivative of the joint torque vector with respect to the joint configuration.")
.ADD_DATA_PROPERTY(dtau_dv,"Partial derivative of the joint torque vector with respect to the joint velocity.")
.ADD_DATA_PROPERTY(ddq_dq,"Partial derivative of the joint acceleration vector with respect to the joint configuration.")
.ADD_DATA_PROPERTY(ddq_dv,"Partial derivative of the joint acceleration vector with respect to the joint velocity.")
.ADD_DATA_PROPERTY(kinetic_energy,"Kinetic energy in [J] computed by computeKineticEnergy")
.ADD_DATA_PROPERTY(potential_energy,"Potential energy in [J] computed by computePotentialEnergy")
.ADD_DATA_PROPERTY(lambda_c,"Lagrange Multipliers linked to contact forces")
.ADD_DATA_PROPERTY(impulse_c,"Lagrange Multipliers linked to contact impulses")
.ADD_DATA_PROPERTY(dq_after,"Generalized velocity after the impact.")
.ADD_DATA_PROPERTY(staticRegressor,"Static regressor.")
.ADD_DATA_PROPERTY(jointTorqueRegressor,"Joint torque regressor.")
.def(bp::self == bp::self)
.def(bp::self != bp::self)
;
}
/* --- Expose --------------------------------------------------------- */
static void expose()
{
bp::class_<Data>("Data",
"Articulated rigid body data related to a Model.\n"
"It contains all the data that can be modified by the Pinocchio algorithms.",
bp::no_init)
.def(DataPythonVisitor())
.def(CopyableVisitor<Data>())
.def(SerializableVisitor<Data>())
.def_pickle(PickleData<Data>());
typedef PINOCCHIO_ALIGNED_STD_VECTOR(Vector3) StdVec_Vector3;
typedef PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6x) StdVec_Matrix6x;
StdAlignedVectorPythonVisitor<Vector3,false>::expose("StdVec_Vector3")
.def(details::overload_base_get_item_for_std_vector<StdVec_Vector3>());
serialize<StdAlignedVectorPythonVisitor<Vector3,false>::vector_type>();
StdAlignedVectorPythonVisitor<Matrix6x,false>::expose("StdVec_Matrix6x")
.def(details::overload_base_get_item_for_std_vector<StdVec_Matrix6x>());
serialize<StdAlignedVectorPythonVisitor<Matrix6x,false>::vector_type>();
StdVectorPythonVisitor<int>::expose("StdVec_Int");
serialize<StdVectorPythonVisitor<int>::vector_type>();
}
};
}} // namespace pinocchio::python
#endif // ifndef __pinocchio_python_multibody_data_hpp__