bindings/python/multibody/frame.hpp

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//
// Copyright (c) 2016-2021 CNRS INRIA
//

#ifndef __pinocchio_python_frame_hpp__
#define __pinocchio_python_frame_hpp__

#include "pinocchio/multibody/fwd.hpp"
#include "pinocchio/multibody/frame.hpp"
#include "pinocchio/bindings/python/utils/copyable.hpp"
#include "pinocchio/bindings/python/utils/printable.hpp"

namespace pinocchio
{
  namespace python
  {
    namespace bp = boost::python;

    struct FramePythonVisitor
    : public bp::def_visitor< FramePythonVisitor >
    {
      template<class PyClass>
      void visit(PyClass& cl) const 
      {
        cl
          .def(bp::init<>(bp::arg("self"),"Default constructor"))
          .def(bp::init<const Frame &>(bp::args("self","other"),"Copy constructor"))
          .def(bp::init< const std::string&,const JointIndex, const FrameIndex, const SE3&, FrameType, bp::optional<const Inertia&> > ((bp::arg("name"),bp::arg("parent_joint"), bp::args("parent_frame"), bp::arg("placement"), bp::arg("type"), bp::arg("inertia")),
                "Initialize from a given name, type, parent joint index, parent frame index and placement wrt parent joint and an spatial inertia object."))

          .def_readwrite("name", &Frame::name, "name  of the frame")
          .def_readwrite("parent", &Frame::parent, "id of the parent joint")
          .def_readwrite("previousFrame", &Frame::previousFrame, "id of the previous frame") 
          .def_readwrite("placement",
                         &Frame::placement,
                         "placement in the parent joint local frame")
          .def_readwrite("type", &Frame::type, "Type of the frame")
          .def_readwrite("inertia", &Frame::inertia,"Inertia information attached to the frame.")
        
          .def(bp::self == bp::self)
          .def(bp::self != bp::self)
          ;
      }
      
      static void expose()
      {
        bp::enum_<FrameType>("FrameType")
            .value("OP_FRAME",OP_FRAME)
            .value("JOINT",JOINT)
            .value("FIXED_JOINT",FIXED_JOINT)
            .value("BODY",BODY)
            .value("SENSOR",SENSOR)
            .export_values()
            ;

        bp::class_<Frame>("Frame",
                          "A Plucker coordinate frame related to a parent joint inside a kinematic tree.\n\n",
                          bp::no_init
                         )
        .def(FramePythonVisitor())
        .def(CopyableVisitor<Frame>())
        .def(PrintableVisitor<Frame>())
        .def_pickle(Pickle())
        ;
      }

    private:
      struct Pickle : bp::pickle_suite
      {
        static bp::tuple getinitargs(const Frame &)
        {
          return bp::make_tuple();
        }

        static bp::tuple getstate(const Frame & f)
        {
          return bp::make_tuple(f.name, f.parent, f.previousFrame, f.placement, (int)f.type, f.inertia);
        }

        static void setstate(Frame & f, bp::tuple tup)
        {
          f.name = bp::extract<std::string>(tup[0]); 
          f.parent = bp::extract<JointIndex>(tup[1]); 
          f.previousFrame = bp::extract<JointIndex>(tup[2]); 
          f.placement = bp::extract<SE3&>(tup[3]); 
          f.type = (FrameType)(int)bp::extract<int>(tup[4]);
          if(bp::len(tup) > 5)
            f.inertia = bp::extract<Inertia&>(tup[5]);
        }
      };
    };
    

  } // namespace python
} // namespace pinocchio

#endif // ifndef __pinocchio_python_frame_hpp__