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Pierre Fernbach
curves
Commits
7638fa97
Commit
7638fa97
authored
Jan 23, 2020
by
Pierre Fernbach
Browse files
[Python] specify corresponding shared_pointer to all python classes
parent
c16c18c9
Changes
1
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Inline
Side-by-side
python/curves/curves_python.cpp
View file @
7638fa97
...
...
@@ -424,7 +424,7 @@ BOOST_PYTHON_MODULE(curves) {
/*eigenpy::exposeAngleAxis();
eigenpy::exposeQuaternion();*/
/** END eigenpy init**/
class_
<
CurveWrapper
,
boost
::
noncopyable
>
(
"curve"
,
no_init
)
class_
<
CurveWrapper
,
boost
::
noncopyable
,
boost
::
shared_ptr
<
curve_abc_t
>
>
(
"curve"
,
no_init
)
.
def
(
"__call__"
,
pure_virtual
(
&
curve_abc_t
::
operator
()),
"Evaluate the curve at the given time."
,
args
(
"self"
,
"t"
))
.
def
(
"derivate"
,
pure_virtual
(
&
curve_abc_t
::
derivate
),
"Evaluate the derivative of order N of curve at time t."
,
...
...
@@ -452,7 +452,7 @@ BOOST_PYTHON_MODULE(curves) {
.
def
(
"loadFromBinary"
,
pure_virtual
(
&
curve_abc_t
::
loadFromBinary
<
curve_abc_t
>
),
bp
::
args
(
"filename"
),
"Loads *this from a binary file."
);
class_
<
Curve3Wrapper
,
boost
::
noncopyable
,
bases
<
curve_abc_t
>
>
(
"curve3"
,
no_init
)
class_
<
Curve3Wrapper
,
boost
::
noncopyable
,
bases
<
curve_abc_t
>
,
boost
::
shared_ptr
<
curve_3_t
>
>
(
"curve3"
,
no_init
)
.
def
(
"__call__"
,
pure_virtual
(
&
curve_3_t
::
operator
()),
"Evaluate the curve at the given time."
,
args
(
"self"
,
"t"
))
.
def
(
"derivate"
,
pure_virtual
(
&
curve_3_t
::
derivate
),
"Evaluate the derivative of order N of curve at time t."
,
...
...
@@ -468,7 +468,7 @@ BOOST_PYTHON_MODULE(curves) {
.
def
(
"max"
,
pure_virtual
(
&
curve_3_t
::
max
),
"Get the HIGHER bound on interval definition of the curve."
)
.
def
(
"dim"
,
pure_virtual
(
&
curve_3_t
::
dim
),
"Get the dimension of the curve."
);
class_
<
CurveRotationWrapper
,
boost
::
noncopyable
,
bases
<
curve_abc_t
>
>
(
"curve_rotation"
,
no_init
)
class_
<
CurveRotationWrapper
,
boost
::
noncopyable
,
bases
<
curve_abc_t
>
,
boost
::
shared_ptr
<
curve_rotation_t
>
>
(
"curve_rotation"
,
no_init
)
.
def
(
"__call__"
,
pure_virtual
(
&
curve_rotation_t
::
operator
()),
"Evaluate the curve at the given time."
,
args
(
"self"
,
"t"
))
.
def
(
"derivate"
,
pure_virtual
(
&
curve_rotation_t
::
derivate
),
...
...
@@ -484,7 +484,7 @@ BOOST_PYTHON_MODULE(curves) {
.
def
(
"max"
,
pure_virtual
(
&
curve_rotation_t
::
max
),
"Get the HIGHER bound on interval definition of the curve."
)
.
def
(
"dim"
,
pure_virtual
(
&
curve_rotation_t
::
dim
),
"Get the dimension of the curve."
);
class_
<
CurveSE3Wrapper
,
boost
::
noncopyable
,
bases
<
curve_abc_t
>
>
(
"curve_SE3"
,
no_init
)
class_
<
CurveSE3Wrapper
,
boost
::
noncopyable
,
bases
<
curve_abc_t
>
,
boost
::
shared_ptr
<
curve_SE3_t
>
>
(
"curve_SE3"
,
no_init
)
.
def
(
"__call__"
,
&
se3Return
,
"Evaluate the curve at the given time. Return as an homogeneous matrix."
,
args
(
"self"
,
"t"
))
.
def
(
"derivate"
,
pure_virtual
(
&
curve_SE3_t
::
derivate
),
...
...
@@ -614,7 +614,7 @@ BOOST_PYTHON_MODULE(curves) {
/** END variable points bezier curve**/
/** BEGIN polynomial curve function**/
class_
<
polynomial_t
,
bases
<
curve_abc_t
>
>
(
"polynomial"
,
init
<>
())
class_
<
polynomial_t
,
bases
<
curve_abc_t
>
,
boost
::
shared_ptr
<
polynomial_t
>
>
(
"polynomial"
,
init
<>
())
.
def
(
"__init__"
,
make_constructor
(
&
wrapPolynomialConstructor1
,
default_call_policies
(),
args
(
"coeffs"
,
"min"
,
"max"
)),
"Create polynomial spline from an Eigen matrix of coefficient defined for t in [min,max]."
...
...
@@ -663,7 +663,7 @@ BOOST_PYTHON_MODULE(curves) {
/** END polynomial function**/
/** BEGIN piecewise curve function **/
class_
<
piecewise_t
,
bases
<
curve_abc_t
>
>
(
"piecewise"
,
init
<>
())
class_
<
piecewise_t
,
bases
<
curve_abc_t
>
,
boost
::
shared_ptr
<
piecewise_t
>
>
(
"piecewise"
,
init
<>
())
.
def
(
"__init__"
,
make_constructor
(
&
wrapPiecewiseCurveConstructor
,
default_call_policies
(),
arg
(
"curve"
)),
"Create a peicewise curve containing the given curve."
)
.
def
(
"FromPointsList"
,
&
discretPointToPolynomialC0
,
...
...
@@ -723,7 +723,7 @@ BOOST_PYTHON_MODULE(curves) {
.
def
(
bp
::
self
==
bp
::
self
)
.
def
(
bp
::
self
!=
bp
::
self
);
class_
<
piecewise_bezier_t
,
bases
<
curve_abc_t
>
>
(
"piecewise_bezier"
,
init
<>
())
class_
<
piecewise_bezier_t
,
bases
<
curve_abc_t
>
,
boost
::
shared_ptr
<
piecewise_bezier_t
>
>
(
"piecewise_bezier"
,
init
<>
())
.
def
(
"__init__"
,
make_constructor
(
&
wrapPiecewiseBezierConstructor
,
default_call_policies
(),
arg
(
"curve"
)),
"Create a peicewise Bezier curve containing the given curve."
)
.
def
(
"__init__"
,
make_constructor
(
&
wrapPiecewiseBezierEmptyConstructor
),
...
...
@@ -751,7 +751,7 @@ BOOST_PYTHON_MODULE(curves) {
.
def
(
bp
::
self
==
bp
::
self
)
.
def
(
bp
::
self
!=
bp
::
self
);
class_
<
piecewise_linear_bezier_t
,
bases
<
curve_abc_t
>
>
(
"piecewise_bezier_linear"
,
init
<>
())
class_
<
piecewise_linear_bezier_t
,
bases
<
curve_abc_t
>
,
boost
::
shared_ptr
<
piecewise_linear_bezier_t
>
>
(
"piecewise_bezier_linear"
,
init
<>
())
.
def
(
"__init__"
,
make_constructor
(
&
wrapPiecewiseBezierLinearConstructor
,
default_call_policies
(),
arg
(
"curve"
)),
"Create a peicewise Bezier curve containing the given curve."
)
.
def
(
"__init__"
,
make_constructor
(
&
wrapPiecewiseBezierLinearEmptyConstructor
),
...
...
@@ -779,7 +779,7 @@ BOOST_PYTHON_MODULE(curves) {
.
def
(
bp
::
self
==
bp
::
self
)
.
def
(
bp
::
self
!=
bp
::
self
);
class_
<
piecewise_SE3_t
,
bases
<
curve_SE3_t
>
>
(
"piecewise_SE3"
,
init
<>
())
class_
<
piecewise_SE3_t
,
bases
<
curve_SE3_t
>
,
boost
::
shared_ptr
<
piecewise_SE3_t
>
>
(
"piecewise_SE3"
,
init
<>
())
.
def
(
"__init__"
,
make_constructor
(
&
wrapPiecewiseSE3Constructor
,
default_call_policies
(),
arg
(
"curve"
)),
"Create a piecewise-se3 curve containing the given se3 curve."
)
.
def
(
"__init__"
,
make_constructor
(
&
wrapPiecewiseSE3EmptyConstructor
),
"Create an empty piecewise-se3 curve."
)
...
...
@@ -820,7 +820,7 @@ BOOST_PYTHON_MODULE(curves) {
/** END piecewise curve function **/
/** BEGIN exact_cubic curve**/
class_
<
exact_cubic_t
,
bases
<
curve_abc_t
>
>
(
"exact_cubic"
,
init
<>
())
class_
<
exact_cubic_t
,
bases
<
curve_abc_t
>
,
boost
::
shared_ptr
<
exact_cubic_t
>
>
(
"exact_cubic"
,
init
<>
())
.
def
(
"__init__"
,
make_constructor
(
&
wrapExactCubicConstructor
))
.
def
(
"__init__"
,
make_constructor
(
&
wrapExactCubicConstructorConstraint
))
.
def
(
"getNumberSplines"
,
&
exact_cubic_t
::
getNumberSplines
)
...
...
@@ -842,7 +842,7 @@ BOOST_PYTHON_MODULE(curves) {
/** END exact_cubic curve**/
/** BEGIN cubic_hermite_spline **/
class_
<
cubic_hermite_spline_t
,
bases
<
curve_abc_t
>
>
(
"cubic_hermite_spline"
,
init
<>
())
class_
<
cubic_hermite_spline_t
,
bases
<
curve_abc_t
>
,
boost
::
shared_ptr
<
cubic_hermite_spline_t
>
>
(
"cubic_hermite_spline"
,
init
<>
())
.
def
(
"__init__"
,
make_constructor
(
&
wrapCubicHermiteSplineConstructor
))
.
def
(
"saveAsText"
,
&
cubic_hermite_spline_t
::
saveAsText
<
cubic_hermite_spline_t
>
,
bp
::
args
(
"filename"
),
"Saves *this inside a text file."
)
...
...
@@ -877,7 +877,7 @@ BOOST_PYTHON_MODULE(curves) {
/** END bernstein polynomial**/
/** BEGIN SO3 Linear**/
class_
<
SO3Linear_t
,
bases
<
curve_rotation_t
>
>
(
"SO3Linear"
,
init
<>
())
class_
<
SO3Linear_t
,
bases
<
curve_rotation_t
>
,
boost
::
shared_ptr
<
SO3Linear_t
>
>
(
"SO3Linear"
,
init
<>
())
.
def
(
"__init__"
,
make_constructor
(
&
wrapSO3LinearConstructorFromMatrix
,
default_call_policies
(),
args
(
"init_rotation"
,
"end_rotation"
,
"min"
,
"max"
)),
...
...
@@ -908,7 +908,7 @@ BOOST_PYTHON_MODULE(curves) {
/** END SO3 Linear**/
/** BEGIN SE3 Curve**/
class_
<
SE3Curve_t
,
bases
<
curve_SE3_t
>
>
(
"SE3Curve"
,
init
<>
())
class_
<
SE3Curve_t
,
bases
<
curve_SE3_t
>
,
boost
::
shared_ptr
<
SE3Curve_t
>
>
(
"SE3Curve"
,
init
<>
())
.
def
(
"__init__"
,
make_constructor
(
&
wrapSE3CurveFromTransform
,
default_call_policies
(),
args
(
"init_transform"
,
"end_transform"
,
"min"
,
"max"
)),
...
...
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