expose-liegroups.cpp

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

#include "pinocchio/bindings/python/fwd.hpp"
#include "pinocchio/bindings/python/multibody/liegroups.hpp"
#include "pinocchio/bindings/python/utils/namespace.hpp"

#include <eigenpy/memory.hpp>

namespace pinocchio
{
namespace python
{

namespace bp = boost::python;

template<typename LgType>
CartesianProductOperationVariantTpl<double,0,LieGroupCollectionDefaultTpl>
makeLieGroup()
{
  return CartesianProductOperationVariantTpl<double,0,LieGroupCollectionDefaultTpl> (LgType());
}

CartesianProductOperationVariantTpl<double,0,LieGroupCollectionDefaultTpl>
makeRn(int n)
{
  return CartesianProductOperationVariantTpl<double,0,LieGroupCollectionDefaultTpl> (
      VectorSpaceOperationTpl<Eigen::Dynamic,double,0>(n));
}


/* --- Expose --------------------------------------------------------- */
void exposeLieGroups()
{
  LieGroupPythonVisitor<
    CartesianProductOperationVariantTpl<double,0,LieGroupCollectionDefaultTpl>
    >::expose("LieGroup");

  {
    // Switch the scope to the submodule, add methods and classes.
    bp::scope submoduleScope = getOrCreatePythonNamespace("liegroups");

    bp::def("R1", makeLieGroup<VectorSpaceOperationTpl<1,double,0> >);
    bp::def("R2", makeLieGroup<VectorSpaceOperationTpl<2,double,0> >);
    bp::def("R3", makeLieGroup<VectorSpaceOperationTpl<3,double,0> >);
    bp::def("Rn", makeRn);
    bp::def("SO2", makeLieGroup<SpecialOrthogonalOperationTpl<2,double,0> >);
    bp::def("SO3", makeLieGroup<SpecialOrthogonalOperationTpl<3,double,0> >);
    bp::def("SE2", makeLieGroup<SpecialEuclideanOperationTpl<2,double,0> >);
    bp::def("SE3", makeLieGroup<SpecialEuclideanOperationTpl<3,double,0> >);
  }
}
} // namespace python
} // namespace pinocchio