bindings/python/pinocchio/utils.py

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#
# Copyright (c) 2015-2020 CNRS INRIA
#

from __future__ import print_function

import sys

import numpy as np
import numpy.linalg as npl

from . import pinocchio_pywrap as pin
from .pinocchio_pywrap.rpy import matrixToRpy, rpyToMatrix, rotate

from .deprecation import deprecated

def npToTTuple(M):
    L = M.tolist()
    for i in range(len(L)):
        L[i] = tuple(L[i])
    return tuple(L)

def npToTuple(M):
    if len(M.shape) == 1:
        return tuple(M.tolist())
    if M.shape[0] == 1:
        return tuple(M.tolist()[0])
    if M.shape[1] == 1:
        return tuple(M.T.tolist()[0])
    return npToTTuple(M)

def eye(n):
    res = np.eye(n)
    if pin.getNumpyType()==np.matrix:
        return np.matrix(res)
    else:
        return res

def zero(n):
    if pin.getNumpyType()==np.matrix:
        return np.matrix(np.zeros([n, 1] if isinstance(n, int) else n))
    else:
        return np.zeros(n)

def rand(n):
    if pin.getNumpyType()==np.matrix:
        return np.matrix(np.random.rand(n, 1) if isinstance(n, int) else np.random.rand(n[0], n[1]))
    else:
        return np.random.rand(n) if isinstance(n, int) else np.random.rand(n[0], n[1])

@deprecated("Please use numpy.cross(a, b) or numpy.cross(a, b, axis=0).")
def cross(a, b):
    return np.matrix(np.cross(a, b, axis=0))

@deprecated('Now useless. You can directly have access to this function from the main scope of Pinocchio')
def skew(p):
    return pin.skew(p)

@deprecated('Now useless. You can directly have access to this function from the main scope of Pinocchio')
def se3ToXYZQUAT(M):
    return pin.SE3ToXYZQUATtuple(M)

@deprecated('Now useless. You can directly have access to this function from the main scope of Pinocchio')
def XYZQUATToSe3(vec):
    return pin.XYZQUATToSE3(vec)

def isapprox(a, b, epsilon=1e-6):
    if "np" in a.__class__.__dict__:
        a = a.np
    if "np" in b.__class__.__dict__:
        b = b.np
    if isinstance(a, (np.ndarray, list)) and isinstance(b, (np.ndarray, list)):
        a = np.squeeze(np.array(a))
        b = np.squeeze(np.array(b))
        return np.allclose(a, b, epsilon)
    return abs(a - b) < epsilon


def mprint(M, name="ans",eps=1e-15):
    '''
    Matlab-style pretty matrix print.
    '''
    if isinstance(M, pin.SE3):
        M = M.homogeneous
    if len(M.shape==1):
        M = np.expand_dims(M, axis=0)
    ncol = M.shape[1]
    NC = 6
    print(name, " = ")
    print()

    Mmin = lambda M: M.min()
    Mmax = lambda M: M.max()
    Mm = Mmin(abs(M[np.nonzero(M)]))
    MM = Mmax(abs(M[np.nonzero(M)]))

    fmt = "% 10.3e" if Mm < 1e-5 or MM > 1e6 or MM / Mm > 1e3 else "% 1.5f"

    for i in range((ncol - 1) / NC + 1):
        cmin = i * 6
        cmax = (i + 1) * 6
        cmax = ncol if ncol < cmax else cmax
        print("Columns %s through %s" % (cmin, cmax - 1))
        print()
        for r in range(M.shape[0]):
            sys.stdout.write("  ")
            for c in range(cmin, cmax):
                if abs(M[r,c])>eps: sys.stdout.write(fmt % M[r,c]  + "   ")
                else: sys.stdout.write(" 0"+" "*9)
            print()
        print()


def fromListToVectorOfString(items):
    vector = pin.StdVec_StdString()
    vector.extend(item for item in items)
    return vector


__all__ = ['np', 'npl', 'eye', 'zero', 'rand', 'isapprox', 'mprint',
           'skew', 'cross',
           'npToTTuple', 'npToTuple', 'rotate',
           'rpyToMatrix', 'matrixToRpy',
           'se3ToXYZQUAT', 'XYZQUATToSe3',
           'fromListToVectorOfString']