joints-datas.hpp

//
// Copyright (c) 2019-2020 CNRS INRIA
//

#pragma once

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

 // generic expose_joint_data : do nothing special
 template<class T>
 inline bp::class_<T> & expose_joint_data(bp::class_<T> & cl)
 {
 return cl;
 }

 // specialization for JointDataRevoluteUnaligned
 template<>
 inline bp::class_<JointDataRevoluteUnaligned> &
 expose_joint_data<JointDataRevoluteUnaligned>(bp::class_<JointDataRevoluteUnaligned> & cl)
 {
 return cl.def(
 bp::init<const Eigen::Vector3d &>(
 bp::args("axis"), "Init JointDataRevoluteUnaligned from an axis with x-y-z components"));
 }

 // specialization for JointDataPrismaticUnaligned
 template<>
 inline bp::class_<JointDataPrismaticUnaligned> &
 expose_joint_data<JointDataPrismaticUnaligned>(bp::class_<JointDataPrismaticUnaligned> & cl)
 {
 return cl.def(
 bp::init<const Eigen::Vector3d &>(
 bp::args("axis"), "Init JointDataPrismaticUnaligned from an axis with x-y-z components"));
 }

 // specialization for JointDataHelicalUnaligned
 template<>
 inline bp::class_<JointDataHelicalUnaligned> &
 expose_joint_data<JointDataHelicalUnaligned>(bp::class_<JointDataHelicalUnaligned> & cl)
 {
 return cl.def(
 bp::init<const Eigen::Vector3d &>(
 bp::args("axis"), "Init JointDataHelicalUnaligned from an axis with x-y-z components"));
 }

 template<>
 inline bp::class_<JointDataPlanar> &
 expose_joint_data<JointDataPlanar>(bp::class_<JointDataPlanar> & cl)
 {
 return cl.add_property("StU", &JointDataPlanar::StU);
 }

 template<>
 inline bp::class_<JointDataSphericalZYX> &
 expose_joint_data<JointDataSphericalZYX>(bp::class_<JointDataSphericalZYX> & cl)
 {
 return cl.add_property("StU", &JointDataSphericalZYX::StU);
 }

 template<>
 inline bp::class_<JointDataEllipsoid> &
 expose_joint_data<JointDataEllipsoid>(bp::class_<JointDataEllipsoid> & cl)
 {
 return cl.add_property("StU", &JointDataEllipsoid::StU);
 }

 template<>
 inline bp::class_<JointDataComposite> &
 expose_joint_data<JointDataComposite>(bp::class_<JointDataComposite> & cl)
 {
 return cl
 .def(
 bp::init<const JointDataComposite::JointDataVector &, const int, const int>(
 bp::args("joint_data_vectors", "nq", "nv"),
 "Init JointDataComposite from a given collection of joint data"))
 .add_property("joints", &JointDataComposite::joints)
 .add_property("iMlast", &JointDataComposite::iMlast)
 .add_property("pjMi", &JointDataComposite::pjMi)
 .add_property("StU", &JointDataComposite::StU);
 }

 } // namespace python
} // namespace pinocchio