expose-regressor.cpp

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//
// Copyright (c) 2018-2020 CNRS INRIA
//

#include "pinocchio/bindings/python/algorithm/algorithms.hpp"
#include "pinocchio/algorithm/regressor.hpp"

namespace pinocchio
{
  namespace python
  {

    Eigen::MatrixXd bodyRegressor_proxy(const Motion & v, const Motion & a)
    {
      return bodyRegressor(v,a);
    }

    Eigen::MatrixXd jointBodyRegressor_proxy(const Model & model, Data & data, const JointIndex jointId)
    {
      return jointBodyRegressor(model,data,jointId);
    }

    Eigen::MatrixXd frameBodyRegressor_proxy(const Model & model, Data & data, const FrameIndex frameId)
    {
      return frameBodyRegressor(model,data,frameId);
    }

    void exposeRegressor()
    {
      using namespace Eigen;

      bp::def("computeStaticRegressor",
              &computeStaticRegressor<double,0,JointCollectionDefaultTpl,VectorXd>,
              bp::args("model","data","q"),
              "Compute the static regressor that links the inertia parameters of the system to its center of mass position,\n"
              "store the result in Data and return it.\n\n"
              "Parameters:\n"
              "\tmodel: model of the kinematic tree\n"
              "\tdata: data related to the model\n"
              "\tq: the joint configuration vector (size model.nq)\n",
              bp::return_value_policy<bp::return_by_value>());

      bp::def("bodyRegressor",
              &bodyRegressor_proxy,
              bp::args("velocity","acceleration"),
              "Computes the regressor for the dynamic parameters of a single rigid body.\n"
              "The result is such that "
              "Ia + v x Iv = bodyRegressor(v,a) * I.toDynamicParameters()\n\n"
              "Parameters:\n"
              "\tvelocity: spatial velocity of the rigid body\n"
              "\tacceleration: spatial acceleration of the rigid body\n");

      bp::def("jointBodyRegressor",
              &jointBodyRegressor_proxy,
              bp::args("model","data","joint_id"),
              "Compute the regressor for the dynamic parameters of a rigid body attached to a given joint.\n"
              "This algorithm assumes RNEA has been run to compute the acceleration and gravitational effects.\n\n"
              "Parameters:\n"
              "\tmodel: model of the kinematic tree\n"
              "\tdata: data related to the model\n"
              "\tjoint_id: index of the joint\n");

      bp::def("frameBodyRegressor",
              &frameBodyRegressor_proxy,
              bp::args("model","data","frame_id"),
              "Computes the regressor for the dynamic parameters of a rigid body attached to a given frame.\n"
              "This algorithm assumes RNEA has been run to compute the acceleration and gravitational effects.\n\n"
              "Parameters:\n"
              "\tmodel: model of the kinematic tree\n"
              "\tdata: data related to the model\n"
              "\tframe_id: index of the frame\n");

      bp::def("computeJointTorqueRegressor",
              &computeJointTorqueRegressor<double,0,JointCollectionDefaultTpl,VectorXd,VectorXd,VectorXd>,
              bp::args("model","data","q","v","a"),
              "Compute the joint torque regressor that links the joint torque "
              "to the dynamic parameters of each link according to the current the robot motion,\n"
              "store the result in Data and return it.\n\n"
              "Parameters:\n"
              "\tmodel: model of the kinematic tree\n"
              "\tdata: data related to the model\n"
              "\tq: the joint configuration vector (size model.nq)\n"
              "\tv: the joint velocity vector (size model.nv)\n"
              "\ta: the joint acceleration vector (size model.nv)\n",
              bp::return_value_policy<bp::return_by_value>());
    }
    
  } // namespace python
} // namespace pinocchio