task_map_py.cpp

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//
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#undef NDEBUG
#include <pybind11/eigen.h>
#include <pybind11/pybind11.h>
#include <pybind11/stl.h>

#include <exotica_core_task_maps/center_of_mass.h>
#include <exotica_core_task_maps/collision_distance.h>
#include <exotica_core_task_maps/control_regularization.h>
#include <exotica_core_task_maps/distance.h>
#include <exotica_core_task_maps/eff_axis_alignment.h>
#include <exotica_core_task_maps/eff_box.h>
#include <exotica_core_task_maps/eff_frame.h>
#include <exotica_core_task_maps/eff_orientation.h>
#include <exotica_core_task_maps/eff_position.h>
#include <exotica_core_task_maps/interaction_mesh.h>
#include <exotica_core_task_maps/joint_acceleration_backward_difference.h>
#include <exotica_core_task_maps/joint_jerk_backward_difference.h>
#include <exotica_core_task_maps/joint_limit.h>
#include <exotica_core_task_maps/joint_pose.h>
#include <exotica_core_task_maps/joint_torque_minimization_proxy.h>
#include <exotica_core_task_maps/joint_velocity_backward_difference.h>
#include <exotica_core_task_maps/joint_velocity_limit_constraint.h>
#include <exotica_core_task_maps/point_to_line.h>
#include <exotica_core_task_maps/sphere_collision.h>

using namespace exotica;
namespace py = pybind11;

PYBIND11_MODULE(exotica_core_task_maps_py, module)
{
    module.doc() = "Exotica task map definitions";

    py::module::import("pyexotica");

    py::class_<ControlRegularization, std::shared_ptr<ControlRegularization>, TaskMap>(module, "ControlRegularization")
        .def_property_readonly("joint_map", &ControlRegularization::get_joint_map)
        .def_property_readonly("joint_ref", &ControlRegularization::get_joint_ref);  // TODO: Make write-able

    py::class_<EffFrame, std::shared_ptr<EffFrame>, TaskMap>(module, "EffFrame")
        .def_property_readonly("rotation_type", &EffFrame::get_rotation_type);

    py::class_<EffPosition, std::shared_ptr<EffPosition>, TaskMap>(module, "EffPosition");

    py::class_<EffOrientation, std::shared_ptr<EffOrientation>, TaskMap>(module, "EffOrientation")
        .def_property_readonly("rotation_type", &EffOrientation::get_rotation_type);

    py::class_<EffAxisAlignment, std::shared_ptr<EffAxisAlignment>, TaskMap>(module, "EffAxisAlignment")
        .def("get_axis", &EffAxisAlignment::GetAxis)
        .def("set_axis", &EffAxisAlignment::SetAxis)
        .def("get_direction", &EffAxisAlignment::GetDirection)
        .def("set_direction", &EffAxisAlignment::SetDirection);

    py::class_<EffBox, std::shared_ptr<EffBox>, TaskMap>(module, "EffBox")
        .def("get_lower_limit", &EffBox::GetLowerLimit)
        .def("get_upper_limit", &EffBox::GetUpperLimit);

    py::class_<PointToLine, std::shared_ptr<PointToLine>, TaskMap>(module, "PointToLine")
        .def_property("end_point", &PointToLine::GetEndPoint, &PointToLine::SetEndPoint);

    py::class_<JointVelocityLimitConstraint, std::shared_ptr<JointVelocityLimitConstraint>, TaskMap>(module, "JointVelocityLimitConstraint")
        .def("set_previous_joint_state", &JointVelocityLimitConstraint::SetPreviousJointState);

    py::class_<JointVelocityBackwardDifference, std::shared_ptr<JointVelocityBackwardDifference>, TaskMap>(module, "JointVelocityBackwardDifference")
        .def("set_previous_joint_state", &JointVelocityBackwardDifference::SetPreviousJointState);

    py::class_<JointAccelerationBackwardDifference, std::shared_ptr<JointAccelerationBackwardDifference>, TaskMap>(module, "JointAccelerationBackwardDifference")
        .def("set_previous_joint_state", &JointAccelerationBackwardDifference::SetPreviousJointState);

    py::class_<JointJerkBackwardDifference, std::shared_ptr<JointJerkBackwardDifference>, TaskMap>(module, "JointJerkBackwardDifference")
        .def("set_previous_joint_state", &JointJerkBackwardDifference::SetPreviousJointState);

    py::class_<CenterOfMass, std::shared_ptr<CenterOfMass>, TaskMap>(module, "CenterOfMass");

    py::class_<Distance, std::shared_ptr<Distance>, TaskMap>(module, "Distance");

    py::class_<JointPose, std::shared_ptr<JointPose>, TaskMap>(module, "JointPose")
        .def_property_readonly("joint_map", &JointPose::get_joint_map)
        .def_property("joint_ref", &JointPose::get_joint_ref, &JointPose::set_joint_ref);

    py::class_<JointTorqueMinimizationProxy, std::shared_ptr<JointTorqueMinimizationProxy>, TaskMap>(module, "JointTorqueMinimizationProxy")
        .def_property("h", &JointTorqueMinimizationProxy::get_h, &JointTorqueMinimizationProxy::set_h);

    py::class_<InteractionMesh, std::shared_ptr<InteractionMesh>, TaskMap>(module, "InteractionMesh")
        .def_property("W", &InteractionMesh::GetWeights, &InteractionMesh::SetWeights)
        .def("set_weight", &InteractionMesh::SetWeight)
        .def_static("compute_goal_laplace", [](const std::vector<KDL::Frame>& nodes, Eigen::MatrixXdRefConst weights) {
            Eigen::VectorXd goal;
            InteractionMesh::ComputeGoalLaplace(nodes, goal, weights);
            return goal;
        })
        .def_static("compute_laplace", [](Eigen::VectorXdRefConst eff_phi, Eigen::MatrixXdRefConst weights) {
            return InteractionMesh::ComputeLaplace(eff_phi, weights);
        });

    py::class_<JointLimit, std::shared_ptr<JointLimit>, TaskMap>(module, "JointLimit");

    py::class_<SphereCollision, std::shared_ptr<SphereCollision>, TaskMap>(module, "SphereCollision");

    py::class_<CollisionDistance, std::shared_ptr<CollisionDistance>, TaskMap>(module, "CollisionDistance")
        .def("get_collision_proxies", &CollisionDistance::get_collision_proxies);
}