joints-models.hpp

//
// Copyright (c) 2015-2022 CNRS INRIA
//

#ifndef __pinocchio_python_joints_models_hpp__
#define __pinocchio_python_joints_models_hpp__

#include <boost/python.hpp>

#include "pinocchio/multibody/joint/joint-collection.hpp"
#include "pinocchio/multibody/joint/joint-composite.hpp"
#include "pinocchio/multibody/joint/joint-generic.hpp"
#include "pinocchio/multibody/joint/joint-mimic.hpp"

#include <eigenpy/eigen-to-python.hpp>

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

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

 // specialization for JointModelRevolute
 template<>
 bp::class_<context::JointModelRX> &
 expose_joint_model<context::JointModelRX>(bp::class_<context::JointModelRX> & cl)
 {
 return cl
 .def(bp::init<>(
 bp::args("self"), "Init JointModelRX with the X axis ([1, 0, 0]) as rotation axis."))
 .def(
 "getMotionAxis", &context::JointModelRX::getMotionAxis,
 "Rotation axis of the JointModelRX.");
 }

 template<>
 bp::class_<context::JointModelRY> &
 expose_joint_model<context::JointModelRY>(bp::class_<context::JointModelRY> & cl)
 {
 return cl
 .def(bp::init<>(
 bp::args("self"), "Init JointModelRY with the Y axis ([0, 1, 0]) as rotation axis."))
 .def(
 "getMotionAxis", &context::JointModelRY::getMotionAxis,
 "Rotation axis of the JointModelRY.");
 }

 template<>
 bp::class_<context::JointModelRZ> &
 expose_joint_model<context::JointModelRZ>(bp::class_<context::JointModelRZ> & cl)
 {
 return cl
 .def(bp::init<>(
 bp::args("self"), "Init JointModelRZ with the Z axis ([0, 0, 1]) as rotation axis"))
 .def(
 "getMotionAxis", &context::JointModelRZ::getMotionAxis,
 "Rotation axis of the JointModelRZ.");
 }

 // specialization for JointModelRevoluteUnaligned
 template<>
 bp::class_<context::JointModelRevoluteUnaligned> &
 expose_joint_model<context::JointModelRevoluteUnaligned>(
 bp::class_<context::JointModelRevoluteUnaligned> & cl)
 {
 return cl
 .def(bp::init<context::Scalar, context::Scalar, context::Scalar>(
 bp::args("self", "x", "y", "z"),
 "Init JointModelRevoluteUnaligned from the components x, y, z of the axis"))
 .def(bp::init<const context::Vector3s &>(
 bp::args("self", "axis"),
 "Init JointModelRevoluteUnaligned from an axis with x-y-z components"))
 .def_readwrite(
 "axis", &context::JointModelRevoluteUnaligned::axis,
 "Rotation axis of the JointModelRevoluteUnaligned.");
 }

 // specialization for JointModelRevoluteUnbounded
 template<>
 bp::class_<context::JointModelRUBX> &
 expose_joint_model<context::JointModelRUBX>(bp::class_<context::JointModelRUBX> & cl)
 {
 return cl
 .def(bp::init<>(
 bp::args("self"), "Init JointModelRUBX with the X axis ([1, 0, 0]) as rotation axis"))
 .def(
 "getMotionAxis", &context::JointModelRUBX::getMotionAxis,
 "Rotation axis of the JointModelRUBX.");
 }

 template<>
 bp::class_<context::JointModelRUBY> &
 expose_joint_model<context::JointModelRUBY>(bp::class_<context::JointModelRUBY> & cl)
 {
 return cl
 .def(bp::init<>(
 bp::args("self"), "Init JointModelRUBY with the Y axis ([0, 1, 0]) as rotation axis"))
 .def(
 "getMotionAxis", &context::JointModelRUBY::getMotionAxis,
 "Rotation axis of the JointModelRUBY.");
 }

 template<>
 bp::class_<context::JointModelRUBZ> &
 expose_joint_model<context::JointModelRUBZ>(bp::class_<context::JointModelRUBZ> & cl)
 {
 return cl
 .def(bp::init<>(
 bp::args("self"), "Init JointModelRUBZ with the Z axis ([0, 0, 1]) as rotation axis"))
 .def(
 "getMotionAxis", &context::JointModelRUBZ::getMotionAxis,
 "Rotation axis of the JointModelRUBZ.");
 }

 // specialization for JointModelPrismatic
 template<>
 bp::class_<context::JointModelPX> &
 expose_joint_model<context::JointModelPX>(bp::class_<context::JointModelPX> & cl)
 {
 return cl
 .def(bp::init<>(
 bp::args("self"), "Init JointModelPX with the X axis ([1, 0, 0]) as rotation axis"))
 .def(
 "getMotionAxis", &context::JointModelPX::getMotionAxis,
 "Rotation axis of the JointModelPX.");
 }

 template<>
 bp::class_<context::JointModelPY> &
 expose_joint_model<context::JointModelPY>(bp::class_<context::JointModelPY> & cl)
 {
 return cl
 .def(bp::init<>(
 bp::args("self"), "Init JointModelPY with the Y axis ([0, 1, 0]) as rotation axis"))
 .def(
 "getMotionAxis", &context::JointModelPY::getMotionAxis,
 "Rotation axis of the JointModelPY.");
 }

 template<>
 bp::class_<context::JointModelPZ> &
 expose_joint_model<context::JointModelPZ>(bp::class_<context::JointModelPZ> & cl)
 {
 return cl
 .def(bp::init<>(
 bp::args("self"), "Init JointModelPZ with the Z axis ([0, 0, 1]) as rotation axis"))
 .def(
 "getMotionAxis", &context::JointModelPZ::getMotionAxis,
 "Rotation axis of the JointModelPZ.");
 }

 // specialization for JointModelPrismaticUnaligned
 template<>
 bp::class_<context::JointModelPrismaticUnaligned> &
 expose_joint_model<context::JointModelPrismaticUnaligned>(
 bp::class_<context::JointModelPrismaticUnaligned> & cl)
 {
 return cl
 .def(bp::init<context::Scalar, context::Scalar, context::Scalar>(
 bp::args("self", "x", "y", "z"),
 "Init JointModelPrismaticUnaligned from the components x, y, z of the axis"))
 .def(bp::init<const context::Vector3s &>(
 bp::args("self", "axis"),
 "Init JointModelPrismaticUnaligned from an axis with x-y-z components"))
 .def_readwrite(
 "axis", &context::JointModelPrismaticUnaligned::axis,
 "Translation axis of the JointModelPrismaticUnaligned.");
 }

 // specialization for JointModelHelicalUnaligned
 template<>
 bp::class_<context::JointModelHelicalUnaligned> &
 expose_joint_model<context::JointModelHelicalUnaligned>(
 bp::class_<context::JointModelHelicalUnaligned> & cl)
 {
 return cl
 .def(bp::init<context::Scalar, context::Scalar, context::Scalar, context::Scalar>(
 bp::args("self", "x", "y", "z", "pitch"),
 "Init JointModelHelicalUnaligned from the components x, y, z of the axis and the pitch"))
 .def(bp::init<const context::Vector3s &, context::Scalar>(
 bp::args("self", "axis", "pitch"),
 "Init JointModelHelicalUnaligned from an axis with x-y-z components and the pitch"))
 .def_readwrite(
 "axis", &context::JointModelHelicalUnaligned::axis,
 "Translation axis of the JointModelHelicalUnaligned.")
 .def_readwrite(
 "pitch", &context::JointModelHelicalUnaligned::m_pitch,
 "Pitch h of the JointModelHelicalUnaligned.");
 }

 // specialization for JointModelHelical
 template<>
 bp::class_<context::JointModelHX> &
 expose_joint_model<context::JointModelHX>(bp::class_<context::JointModelHX> & cl)
 {
 return cl
 .def(bp::init<context::Scalar>(
 bp::args("self", "pitch"),
 "Init JointModelHX with pitch value and the X axis ([1, 0, 0]) as a rotation axis."))
 .def(bp::init<>(
 bp::args("self"),
 "Init JointModelHX with pitch 0.0 and the X axis ([1, 0, 0]) as a rotation axis."))
 .def(
 "getMotionAxis", &context::JointModelHX::getMotionAxis,
 "Rotation axis of the JointModelHX.")
 .def_readwrite("pitch", &context::JointModelHX::m_pitch, "Pitch h of the JointModelHX.");
 }

 template<>
 bp::class_<context::JointModelHY> &
 expose_joint_model<context::JointModelHY>(bp::class_<context::JointModelHY> & cl)
 {
 return cl
 .def(bp::init<context::Scalar>(
 bp::args("self", "pitch"),
 "Init JointModelHY with pitch value and the Y axis ([0, 1, 0]) as a rotation axis."))
 .def(bp::init<>(
 bp::args("self"),
 "Init JointModelHY with pitch 0.0 and the Y axis ([0, 1, 0]) as a rotation axis."))
 .def(
 "getMotionAxis", &context::JointModelHY::getMotionAxis,
 "Rotation axis of the JointModelHY.")
 .def_readwrite("pitch", &context::JointModelHY::m_pitch, "Pitch h of the JointModelHY.");
 }

 template<>
 bp::class_<context::JointModelHZ> &
 expose_joint_model<context::JointModelHZ>(bp::class_<context::JointModelHZ> & cl)
 {
 return cl
 .def(bp::init<context::Scalar>(
 bp::args("self", "pitch"),
 "Init JointModelHZ with pitch value and the Z axis ([0, 0, 1]) as a rotation axis."))
 .def(bp::init<>(
 bp::args("self"),
 "Init JointModelHZ with pitch 0.0 and the Z axis ([0, 0, 1]) as a rotation axis."))
 .def(
 "getMotionAxis", &context::JointModelHZ::getMotionAxis,
 "Rotation axis of the JointModelHZ.")
 .def_readwrite("pitch", &context::JointModelHZ::m_pitch, "Pitch h of the JointModelHZ.");
 }

 // specialization for JointModelHelical
 template<>
 bp::class_<context::JointModelEllipsoid> &
 expose_joint_model<context::JointModelEllipsoid>(bp::class_<context::JointModelEllipsoid> & cl)
 {
 return cl
 .def(bp::init<context::Scalar, context::Scalar, context::Scalar>(
 bp::args("self", "radius_x", "radius_y", "radius_z"),
 "Init JointModelEllipsoid with radii along x, y, z axes."))
 .def(bp::init<>(bp::args("self"), "Init JointModelEllipsoid with default radii equal to 0"))
 .def_readwrite(
 "radius_x", &context::JointModelEllipsoid::radius_x,
 "Radius of the JointModelEllipsoid along X axis.")
 .def_readwrite(
 "radius_y", &context::JointModelEllipsoid::radius_y,
 "Radius of the JointModelEllipsoid along Y axis.")
 .def_readwrite(
 "radius_z", &context::JointModelEllipsoid::radius_z,
 "Radius of the JointModelEllipsoid along Z axis.");
 }

 // specialization for JointModelUniversal
 template<>
 bp::class_<context::JointModelUniversal> &
 expose_joint_model<context::JointModelUniversal>(bp::class_<context::JointModelUniversal> & cl)
 {
 return cl
 .def(bp::init<
 context::Scalar, context::Scalar, context::Scalar, context::Scalar, context::Scalar,
 context::Scalar>(
 bp::args("self", "x1", "y1", "z1", "x2", "y2", "z2"),
 "Init JointModelUniversal from the components x, y, z of the axes"))
 .def(bp::init<const context::Vector3s &, const context::Vector3s &>(
 bp::args("self", "axis1", "axis2"),
 "Init JointModelUniversal from two axes with x-y-z components"))
 .def_readwrite(
 "axis1", &context::JointModelUniversal::axis1,
 "First rotation axis of the JointModelUniversal.")
 .def_readwrite(
 "axis2", &context::JointModelUniversal::axis2,
 "Second rotation axis of the JointModelUniversal.");
 }

 // specialization for JointModelComposite

 struct JointModelCompositeAddJointVisitor
 : public boost::static_visitor<context::JointModelComposite &>
 {
 context::JointModelComposite & m_joint_composite;
 const context::SE3 & m_joint_placement;
 const std::string & m_name;

 JointModelCompositeAddJointVisitor(
 context::JointModelComposite & joint_composite,
 const context::SE3 & joint_placement,
 const std::string & name)
 : m_joint_composite(joint_composite)
 , m_joint_placement(joint_placement)
 , m_name(name)
 {
 }

 template<typename JointModelDerived>
 context::JointModelComposite & operator()(JointModelDerived & jmodel) const
 {
 return m_joint_composite.addJoint(jmodel, m_joint_placement, m_name);
 }
 }; // struct JointModelCompositeAddJointVisitor

 static context::JointModelComposite & addJoint_proxy(
 context::JointModelComposite & joint_composite,
 const context::JointModel & jmodel,
 const context::SE3 & joint_placement = context::SE3::Identity(),
 const std::string & name = "")
 {
 return boost::apply_visitor(
 JointModelCompositeAddJointVisitor(joint_composite, joint_placement, name),
 jmodel.toVariant());
 }

 struct JointModelCompositeConstructorVisitor
 : public boost::static_visitor<context::JointModelComposite *>
 {
 const context::SE3 & m_joint_placement;
 const std::string & m_name;

 JointModelCompositeConstructorVisitor(
 const context::SE3 & joint_placement, const std::string & name)
 : m_joint_placement(joint_placement)
 , m_name(name)
 {
 }

 template<typename JointModelDerived>
 context::JointModelComposite * operator()(JointModelDerived & jmodel) const
 {
 return new context::JointModelComposite(jmodel, m_joint_placement, m_name);
 }
 }; // struct JointModelCompositeConstructorVisitor

 static context::JointModelComposite * init_proxy1(const context::JointModel & jmodel)
 {
 return boost::apply_visitor(
 JointModelCompositeConstructorVisitor(context::SE3::Identity(), "joint_1"), jmodel);
 }

 static context::JointModelComposite *
 init_proxy2(const context::JointModel & jmodel, const context::SE3 & joint_placement)
 {
 return boost::apply_visitor(
 JointModelCompositeConstructorVisitor(joint_placement, "joint_1"), jmodel);
 }

 static context::JointModelComposite * init_proxy3(
 const context::JointModel & jmodel,
 const context::SE3 & joint_placement,
 const std::string & name)
 {
 return boost::apply_visitor(
 JointModelCompositeConstructorVisitor(joint_placement, name), jmodel);
 }

 template<>
 bp::class_<context::JointModelComposite> &
 expose_joint_model<context::JointModelComposite>(bp::class_<context::JointModelComposite> & cl)
 {
 return cl
 .def(bp::init<const size_t>(
 bp::args("self", "size"), "Init JointModelComposite with a defined size"))
 .def(
 "__init__",
 bp::make_constructor(init_proxy1, bp::default_call_policies(), bp::args("joint_model")),
 "Init JointModelComposite from a joint")
 .def(
 "__init__",
 bp::make_constructor(
 init_proxy2, bp::default_call_policies(), bp::args("joint_model", "joint_placement")),
 "Init JointModelComposite from a joint and a placement")
 .def(
 "__init__",
 bp::make_constructor(
 init_proxy3, bp::default_call_policies(),
 bp::args("joint_model", "joint_placement", "name")),
 "Init JointModelComposite from a joint, a placement and a name")
 .add_property("joints", &context::JointModelComposite::joints)
 .add_property("jointPlacements", &context::JointModelComposite::jointPlacements)
 .add_property("njoints", &context::JointModelComposite::njoints)
 .def(
 "addJoint", &addJoint_proxy,
 (bp::arg("self"), bp::arg("joint_model"),
 bp::arg("joint_placement") = context::SE3::Identity(), bp::arg("name") = "joint_1"),
 "Add a joint to the vector of joints.", bp::return_internal_reference<>())
 .def(
 "getJointId", &context::JointModelComposite::getJointId, bp::args("joint_name"),
 "Find the index of a joint inside a joint composite based on its name.")

#ifndef PINOCCHIO_PYTHON_SKIP_COMPARISON_OPERATIONS
 .def(bp::self == bp::self)
 .def(bp::self != bp::self)
#endif
 ;
 }

 // Specialization for JointModelMimic
 struct JointModelMimicConstructorVisitor
 : public boost::static_visitor<context::JointModelMimic *>
 {
 const context::Scalar & m_scaling;
 const context::Scalar & m_offset;

 JointModelMimicConstructorVisitor(
 const context::Scalar & scaling, const context::Scalar & offset)
 : m_scaling(scaling)
 , m_offset(offset)
 {
 }

 template<typename JointModelDerived>
 context::JointModelMimic * operator()(const JointModelDerived & jmodel) const
 {

 return new context::JointModelMimic(jmodel, m_scaling, m_offset);
 }

 }; // struct JointModelMimicConstructorVisitor

 static context::JointModelMimic * init_proxy(
 const context::JointModel & jmodel,
 const context::Scalar & scaling,
 const context::Scalar & offset)
 {
 return boost::apply_visitor(JointModelMimicConstructorVisitor(scaling, offset), jmodel);
 }

 static context::Scalar get_scaling(context::JointModelMimic & jmodel)
 {
 return jmodel.scaling();
 }

 static context::Scalar get_offset(context::JointModelMimic & jmodel)
 {
 return jmodel.offset();
 }

 template<>
 bp::class_<context::JointModelMimic> &
 expose_joint_model<context::JointModelMimic>(bp::class_<context::JointModelMimic> & cl)
 {
 return cl
 .def(
 "__init__",
 bp::make_constructor(
 init_proxy, bp::default_call_policies(), bp::args("joint_model", "scaling", "offset")),
 "Init JointModelMimic from an existing joint with scaling and offset.")
 .add_property("scaling", &get_scaling)
 .add_property("offset", &get_offset);
 }

 } // namespace python
} // namespace pinocchio

#endif // ifndef __pinocchio_python_joint_models_hpp__