Program Listing for File inertia.hpp
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//
// Copyright (c) 2015-2023 CNRS INRIA
// Copyright (c) 2016 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//
#ifndef __pinocchio_python_spatial_inertia_hpp__
#define __pinocchio_python_spatial_inertia_hpp__
#include <eigenpy/exception.hpp>
#include <eigenpy/eigenpy.hpp>
#include <eigenpy/memory.hpp>
#include <boost/python/tuple.hpp>
#include "pinocchio/spatial/inertia.hpp"
#include "pinocchio/bindings/python/fwd.hpp"
#include "pinocchio/bindings/python/utils/copyable.hpp"
#include "pinocchio/bindings/python/utils/printable.hpp"
#if EIGENPY_VERSION_AT_MOST(2,8,1)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(pinocchio::Inertia)
#endif
namespace pinocchio
{
namespace python
{
namespace bp = boost::python;
template<typename T> struct call;
template<typename Scalar, int Options>
struct call< InertiaTpl<Scalar,Options> >
{
typedef InertiaTpl<Scalar,Options> Inertia;
static bool isApprox(const Inertia & self, const Inertia & other,
const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision())
{
return self.isApprox(other,prec);
}
static bool isZero(const Inertia & self,
const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision())
{
return self.isZero(prec);
}
};
BOOST_PYTHON_FUNCTION_OVERLOADS(isApproxInertia_overload,call<Inertia>::isApprox,2,3)
BOOST_PYTHON_FUNCTION_OVERLOADS(isZero_overload,call<Inertia>::isZero,1,2)
template<typename Inertia>
struct InertiaPythonVisitor
: public boost::python::def_visitor< InertiaPythonVisitor<Inertia> >
{
typedef typename Inertia::Scalar Scalar;
typedef typename Inertia::Vector3 Vector3;
typedef typename Inertia::Matrix3 Matrix3;
typedef typename Inertia::Vector6 Vector6;
typedef typename Inertia::Matrix6 Matrix6;
public:
template<class PyClass>
void visit(PyClass& cl) const
{
cl
.def("__init__",
bp::make_constructor(&InertiaPythonVisitor::makeFromMCI,
bp::default_call_policies(),
bp::args("mass","lever","inertia")),
"Initialize from mass, lever and 3d inertia.")
.def(bp::init<Inertia>(bp::args("self","other"),"Copy constructor."))
.add_property("mass",
&InertiaPythonVisitor::getMass,
&InertiaPythonVisitor::setMass,
"Mass of the Spatial Inertia.")
.add_property("lever",
bp::make_function((typename Inertia::Vector3 & (Inertia::*)())&Inertia::lever,
bp::return_internal_reference<>()),
&InertiaPythonVisitor::setLever,
"Center of mass location of the Spatial Inertia. It corresponds to the location of the center of mass regarding to the frame where the Spatial Inertia is expressed.")
.add_property("inertia",
&InertiaPythonVisitor::getInertia,
&InertiaPythonVisitor::setInertia,
"Rotational part of the Spatial Inertia, i.e. a symmetric matrix representing the rotational inertia around the center of mass.")
.def("matrix",&Inertia::matrix,bp::arg("self"))
.def("se3Action",&Inertia::se3Action,
bp::args("self","M"),"Returns the result of the action of M on *this.")
.def("se3ActionInverse",&Inertia::se3ActionInverse,
bp::args("self","M"),"Returns the result of the action of the inverse of M on *this.")
.def("setIdentity",&Inertia::setIdentity,bp::arg("self"),
"Set *this to be the Identity inertia.")
.def("setZero",&Inertia::setZero,bp::arg("self"),
"Set all the components of *this to zero.")
.def("setRandom",&Inertia::setRandom,bp::arg("self"),
"Set all the components of *this to random values.")
.def(bp::self + bp::self)
.def(bp::self * bp::other<Motion>() )
.add_property("np",&Inertia::matrix)
.def("vxiv",&Inertia::vxiv,bp::args("self","v"),"Returns the result of v x Iv.")
.def("vtiv",&Inertia::vtiv,bp::args("self","v"),"Returns the result of v.T * Iv.")
.def("vxi",(Matrix6 (Inertia::*)(const Motion &) const)&Inertia::vxi,
bp::args("self","v"),
"Returns the result of v x* I, a 6x6 matrix.")
.def("ivx",(Matrix6 (Inertia::*)(const Motion &) const)&Inertia::ivx,
bp::args("self","v"),
"Returns the result of I vx, a 6x6 matrix.")
.def("variation",(Matrix6 (Inertia::*)(const Motion &) const)&Inertia::variation,
bp::args("self","v"),
"Returns the time derivative of the inertia.")
.def(bp::self == bp::self)
.def(bp::self != bp::self)
.def("isApprox",
call<Inertia>::isApprox,
isApproxInertia_overload(bp::args("self","other","prec"),
"Returns true if *this is approximately equal to other, within the precision given by prec."))
.def("isZero",
call<Inertia>::isZero,
isZero_overload(bp::args("self","prec"),
"Returns true if *this is approximately equal to the zero Inertia, within the precision given by prec."))
.def("Identity",&Inertia::Identity,"Returns the identity Inertia.")
.staticmethod("Identity")
.def("Zero",&Inertia::Zero,"Returns the null Inertia.")
.staticmethod("Zero")
.def("Random",&Inertia::Random,"Returns a random Inertia.")
.staticmethod("Random")
.def("toDynamicParameters",&InertiaPythonVisitor::toDynamicParameters_proxy,bp::arg("self"),
"Returns the representation of the matrix as a vector of dynamic parameters."
"\nThe parameters are given as v = [m, mc_x, mc_y, mc_z, I_{xx}, I_{xy}, I_{yy}, I_{xz}, I_{yz}, I_{zz}]^T "
"where I = I_C + mS^T(c)S(c) and I_C has its origin at the barycenter"
)
.def("FromDynamicParameters",&Inertia::template FromDynamicParameters<Eigen::VectorXd>,
bp::args("dynamic_parameters"),
"Builds and inertia matrix from a vector of dynamic parameters."
"\nThe parameters are given as dynamic_parameters = [m, mc_x, mc_y, mc_z, I_{xx}, I_{xy}, I_{yy}, I_{xz}, I_{yz}, I_{zz}]^T "
"where I = I_C + mS^T(c)S(c) and I_C has its origin at the barycenter."
)
.staticmethod("FromDynamicParameters")
.def("FromSphere", &Inertia::FromSphere,
bp::args("mass","radius"),
"Returns the Inertia of a sphere defined by a given mass and radius.")
.staticmethod("FromSphere")
.def("FromEllipsoid", &Inertia::FromEllipsoid,
bp::args("mass","length_x","length_y","length_z"),
"Returns the Inertia of an ellipsoid shape defined by a mass and given dimensions the semi-axis of values length_{x,y,z}.")
.staticmethod("FromEllipsoid")
.def("FromCylinder", &Inertia::FromCylinder,
bp::args("mass","radius","length"),
"Returns the Inertia of a cylinder defined by its mass, radius and length along the Z axis.")
.staticmethod("FromCylinder")
.def("FromBox", &Inertia::FromBox,
bp::args("mass","length_x","length_y","length_z"),
"Returns the Inertia of a box shape with a mass and of dimension the semi axis of length_{x,y,z}.")
.staticmethod("FromBox")
.def("__array__",&Inertia::matrix)
.def_pickle(Pickle())
;
}
static Scalar getMass( const Inertia & self ) { return self.mass(); }
static void setMass( Inertia & self, Scalar mass ) { self.mass() = mass; }
static void setLever( Inertia & self, const Vector3 & lever ) { self.lever() = lever; }
static Matrix3 getInertia( const Inertia & self ) { return self.inertia().matrix(); }
// static void setInertia(Inertia & self, const Vector6 & minimal_inertia) { self.inertia().data() = minimal_inertia; }
static void setInertia(Inertia & self, const Matrix3 & symmetric_inertia)
{
assert(symmetric_inertia.isApprox(symmetric_inertia.transpose()));
self.inertia().data() <<
symmetric_inertia(0,0),
symmetric_inertia(1,0),
symmetric_inertia(1,1),
symmetric_inertia(0,2),
symmetric_inertia(1,2),
symmetric_inertia(2,2);
}
static Eigen::VectorXd toDynamicParameters_proxy(const Inertia & self)
{
return self.toDynamicParameters();
}
static Inertia* makeFromMCI(const double & mass,
const Vector3 & lever,
const Matrix3 & inertia)
{
if(! inertia.isApprox(inertia.transpose()) )
throw eigenpy::Exception("The 3d inertia should be symmetric.");
if( (Eigen::Vector3d::UnitX().transpose()*inertia*Eigen::Vector3d::UnitX()<0)
|| (Eigen::Vector3d::UnitY().transpose()*inertia*Eigen::Vector3d::UnitY()<0)
|| (Eigen::Vector3d::UnitZ().transpose()*inertia*Eigen::Vector3d::UnitZ()<0) )
throw eigenpy::Exception("The 3d inertia should be positive.");
return new Inertia(mass,lever,inertia);
}
static void expose()
{
#if PY_MAJOR_VERSION == 3 && PY_MINOR_VERSION == 6 && EIGENPY_VERSION_AT_LEAST(2,9,0)
typedef PINOCCHIO_SHARED_PTR_HOLDER_TYPE(Inertia) HolderType;
#else
typedef ::boost::python::detail::not_specified HolderType;
#endif
bp::class_<Inertia,HolderType>("Inertia",
"This class represenses a sparse version of a Spatial Inertia and its is defined by its mass, its center of mass location and the rotational inertia expressed around this center of mass.\n\n"
"Supported operations ...",
bp::init<>(bp::arg("self"),"Default constructor."))
.def(InertiaPythonVisitor<Inertia>())
.def(CopyableVisitor<Inertia>())
.def(PrintableVisitor<Inertia>())
;
}
private:
struct Pickle : bp::pickle_suite
{
static
boost::python::tuple
getinitargs(const Inertia & I)
{ return bp::make_tuple(I.mass(),(Vector3)I.lever(),I.inertia().matrix()); }
static bool getstate_manages_dict() { return true; }
};
}; // struct InertiaPythonVisitor
} // namespace python
} // namespace pinocchio
#endif // ifndef __pinocchio_python_spatial_inertia_hpp__