From 4cf7492042a80c39bcc255aa9b94b9373f218de3 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Mon, 14 Oct 2019 16:27:43 +0200
Subject: [PATCH] [wip/py-tsid] Fix bindings problem with tsid.
---
py-tsid/Makefile | 1 +
py-tsid/distinfo | 2 +
py-tsid/patches/patch-ad | 113 +++++++++++++++++++++++++++++++++++++++
py-tsid/patches/patch-ae | 16 ++++++
4 files changed, 132 insertions(+)
create mode 100644 py-tsid/patches/patch-ad
create mode 100644 py-tsid/patches/patch-ae
diff --git a/py-tsid/Makefile b/py-tsid/Makefile
index d08c2102..7474b506 100644
--- a/py-tsid/Makefile
+++ b/py-tsid/Makefile
@@ -5,6 +5,7 @@
ORG= stack-of-tasks
NAME= tsid
VERSION= 1.2.1
+PKGREVISION= 1
CATEGORIES= wip
COMMENT= Efficient Inverse Dynamics based on Pinocchio (python bindings)
diff --git a/py-tsid/distinfo b/py-tsid/distinfo
index 45b97c29..60e6e6a5 100644
--- a/py-tsid/distinfo
+++ b/py-tsid/distinfo
@@ -4,3 +4,5 @@ Size (tsid-1.2.1.tar.gz) = 9247070 bytes
SHA1 (patch-aa) = 5794c89861c6a84d47428939af6d19da36930631
SHA1 (patch-ab) = 4af606a78e78c4e14c489e0b86b9eb4d8aca03f3
SHA1 (patch-ac) = c5625ba8c746eb5e04d63e258171d4f947aa90ed
+SHA1 (patch-ad) = 50a7fa80e9dd0e5d7d4a8f07716119a4f3149011
+SHA1 (patch-ae) = 0361dfe851401d831c1a150c246ef1ec5d044969
diff --git a/py-tsid/patches/patch-ad b/py-tsid/patches/patch-ad
new file mode 100644
index 00000000..a55da42f
--- /dev/null
+++ b/py-tsid/patches/patch-ad
@@ -0,0 +1,113 @@
+--- bindings/python/robots/robot-wrapper.hpp
++++ bindings/python/robots/robot-wrapper.hpp
+@@ -23,15 +23,17 @@
+ #include <string>
+ #include <eigenpy/eigenpy.hpp>
+ #include <boost/python/suite/indexing/vector_indexing_suite.hpp>
++#include <boost/python/make_constructor.hpp>
+
++#include <pinocchio/bindings/python/parsers/parsers.hpp>
+ #include "tsid/robots/robot-wrapper.hpp"
+
+ namespace tsid
+ {
+ namespace python
+- {
++ {
+ namespace bp = boost::python;
+-
++
+ template<typename Robot>
+ struct RobotPythonVisitor
+ : public boost::python::def_visitor< RobotPythonVisitor<Robot> >
+@@ -39,18 +41,19 @@ namespace tsid
+ typedef std::vector<std::string> std_vec;
+ typedef Eigen::Matrix<double,3,Eigen::Dynamic> Matrix3x;
+
+- template<class PyClass>
++ template<class PyClass >
+
+ void visit(PyClass& cl) const
+ {
+ cl
+ .def(bp::init<std::string, std_vec, bool>((bp::arg("filename"), bp::arg("package_dir"), bp::arg("verbose")), "Default constructor without RootJoint."))
+ .def(bp::init<pinocchio::Model, bool>((bp::arg("Pinocchio Model"), bp::arg("verbose")), "Default constructor from pinocchio model"))
+- .def(bp::init<std::string, std_vec, pinocchio::JointModelVariant, bool>((bp::arg("filename"), bp::arg("package_dir"), bp::arg("roottype"), bp::arg("verbose")), "Default constructor without RootJoint."))
++ .def(bp::init<std::string, std_vec, pinocchio::JointModelVariant &, bool>((bp::arg("filename"), bp::arg("package_dir"), bp::arg("roottype"), bp::arg("verbose")), "Default constructor without RootJoint."))
++ .def("__init__",bp::make_constructor(RobotPythonVisitor<Robot> ::makeClass))
+ .add_property("nq", &Robot::nq)
+ .add_property("nv", &Robot::nv)
+ .add_property("na", &Robot::na)
+-
++
+ .def("model", &RobotPythonVisitor::model)
+ .def("data", &RobotPythonVisitor::data)
+
+@@ -58,18 +61,18 @@ namespace tsid
+ .add_property("gear_ratios", &RobotPythonVisitor::gear_ratios)
+ .def("set_rotor_inertias", &RobotPythonVisitor::set_rotor_inertias, bp::arg("inertia vector"))
+ .def("set_gear_ratios", &RobotPythonVisitor::set_gear_ratios, bp::arg("gear ratio vector"))
+-
++
+ .def("computeAllTerms", &RobotPythonVisitor::computeAllTerms, bp::args("data", "q", "v"), "compute all dynamics")
+ .def("com", &RobotPythonVisitor::com, bp::arg("data"))
+ .def("com_vel", &RobotPythonVisitor::com_vel, bp::arg("data"))
+ .def("com_acc", &RobotPythonVisitor::com_acc, bp::arg("data"))
+ .def("Jcom", &RobotPythonVisitor::Jcom, bp::arg("data"))
+- .def("mass", &RobotPythonVisitor::mass, bp::arg("data"))
++ .def("mass", &RobotPythonVisitor::mass, bp::arg("data"))
+ .def("nonLinearEffect", &RobotPythonVisitor::nonLinearEffects, bp::arg("data"))
+- .def("position", &RobotPythonVisitor::position, bp::args("data", "index"))
++ .def("position", &RobotPythonVisitor::position, bp::args("data", "index"))
+ .def("velocity", &RobotPythonVisitor::velocity, bp::args("data", "index"))
+ .def("acceleration", &RobotPythonVisitor::acceleration, bp::args("data", "index"))
+-
++
+ .def("framePosition", &RobotPythonVisitor::framePosition, bp::args("data", "index"))
+ .def("frameVelocity", &RobotPythonVisitor::frameVelocity, bp::args("data", "index"))
+ .def("frameAcceleration", &RobotPythonVisitor::frameAcceleration, bp::args("data", "index"))
+@@ -77,9 +80,27 @@ namespace tsid
+ .def("frameVelocityWorldOriented", &RobotPythonVisitor::frameVelocityWorldOriented, bp::args("data", "index"))
+ .def("frameAccelerationWorldOriented", &RobotPythonVisitor::frameAccelerationWorldOriented, bp::args("data", "index"))
+ .def("frameClassicAccelerationWorldOriented", &RobotPythonVisitor::frameClassicAccelerationWorldOriented, bp::args("data", "index"))
+-
++
+ ;
+ }
++
++ static boost::shared_ptr<Robot> makeClass(const std::string &filename,
++ const std::vector<std::string>
++ &stdvec,
++ bp::object & bpObject,
++ bool verbose)
++ {
++ std::cout << "Before extraction " << std::endl;
++ pinocchio::JointModelFreeFlyer root_joint =
++ bp::extract<pinocchio::JointModelFreeFlyer>(bpObject)();
++ std::cout << "After extraction " << std::endl;
++ boost::shared_ptr<Robot> p(new tsid::robots::RobotWrapper(filename,
++ stdvec,
++ root_joint,
++ verbose));
++ return p;
++ }
++
+ static pinocchio::Model model (const Robot & self){
+ return self.model();
+ }
+@@ -108,10 +129,10 @@ namespace tsid
+ }
+ static Eigen::Vector3d com_acc (const Robot & self, const pinocchio::Data & data){
+ return self.com_acc(data);
+- }
++ }
+ static Matrix3x Jcom (const Robot & self, const pinocchio::Data & data){
+ return self.Jcom(data);
+- }
++ }
+ static void computeAllTerms (const Robot & self, pinocchio::Data & data, const Eigen::VectorXd & q, const Eigen::VectorXd & v){
+ self.computeAllTerms(data, q, v);
+ }
+--
+2.7.4
+
diff --git a/py-tsid/patches/patch-ae b/py-tsid/patches/patch-ae
new file mode 100644
index 00000000..07867499
--- /dev/null
+++ b/py-tsid/patches/patch-ae
@@ -0,0 +1,16 @@
+--- bindings/python/robots/robot-wrapper.hpp
++++ bindings/python/robots/robot-wrapper.hpp
+@@ -90,10 +90,8 @@ namespace tsid
+ bp::object & bpObject,
+ bool verbose)
+ {
+- std::cout << "Before extraction " << std::endl;
+ pinocchio::JointModelFreeFlyer root_joint =
+ bp::extract<pinocchio::JointModelFreeFlyer>(bpObject)();
+- std::cout << "After extraction " << std::endl;
+ boost::shared_ptr<Robot> p(new tsid::robots::RobotWrapper(filename,
+ stdvec,
+ root_joint,
+--
+2.7.4
+
--
GitLab