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Verified Commit 28e45646 authored by Justin Carpentier's avatar Justin Carpentier
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python/model: simplify addJoint bindings

parent 601790d0
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bindings/python/multibody/model.hpp
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//
// Copyright (c) 2015-2020 CNRS INRIA
// Copyright (c) 2015-2021 CNRS INRIA
// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//
......@@ -95,106 +95,6 @@ namespace pinocchio
typedef typename Model::VectorXs VectorXs;
protected:
struct addJointVisitor0
: public boost::static_visitor<Index>
{
Model & m_model;
const JointIndex m_parent_id;
const SE3 & m_joint_placement;
const std::string & m_joint_name;
addJointVisitor0(Model & model,
const JointIndex parent_id,
const SE3 & joint_placement,
const std::string & joint_name)
: m_model(model)
, m_parent_id(parent_id)
, m_joint_placement(joint_placement)
, m_joint_name(joint_name)
{}
template <typename JointModelDerived>
JointIndex operator()(JointModelDerived & jmodel) const
{
return m_model.addJoint(m_parent_id,jmodel,m_joint_placement,m_joint_name);
}
}; // struct addJointVisitor0
struct addJointVisitor1
: public addJointVisitor0
{
using addJointVisitor0::m_model;
using addJointVisitor0::m_parent_id;
using addJointVisitor0::m_joint_placement;
using addJointVisitor0::m_joint_name;
const VectorXs & m_max_effort;
const VectorXs & m_max_velocity;
const VectorXs & m_min_config;
const VectorXs & m_max_config;
addJointVisitor1(Model & model,
const JointIndex parent_id,
const SE3 & joint_placement,
const std::string & joint_name,
const VectorXs & max_effort,
const VectorXs & max_velocity,
const VectorXs & min_config,
const VectorXs & max_config)
: addJointVisitor0(model,parent_id,joint_placement,joint_name)
, m_max_effort(max_effort)
, m_max_velocity(max_velocity)
, m_min_config(min_config)
, m_max_config(max_config)
{}
template <typename JointModelDerived>
JointIndex operator()(JointModelDerived & jmodel) const
{
return m_model.addJoint(m_parent_id,jmodel,m_joint_placement,m_joint_name,m_max_effort,m_max_velocity,m_min_config,m_max_config);
}
}; // struct addJointVisitor1
struct addJointVisitor2
: public addJointVisitor1
{
using addJointVisitor1::m_model;
using addJointVisitor1::m_parent_id;
using addJointVisitor1::m_joint_placement;
using addJointVisitor1::m_joint_name;
using addJointVisitor1::m_max_effort;
using addJointVisitor1::m_max_velocity;
using addJointVisitor1::m_min_config;
using addJointVisitor1::m_max_config;
const VectorXs & m_friction;
const VectorXs & m_damping;
addJointVisitor2(Model & model,
const JointIndex parent_id,
const SE3 & joint_placement,
const std::string & joint_name,
const VectorXs & max_effort,
const VectorXs & max_velocity,
const VectorXs & min_config,
const VectorXs & max_config,
const VectorXs & friction,
const VectorXs & damping)
: addJointVisitor1(model,parent_id,joint_placement,joint_name,
max_effort,max_velocity,min_config,max_config)
, m_friction(friction)
, m_damping(damping)
{}
template <typename JointModelDerived>
JointIndex operator()(JointModelDerived & jmodel) const
{
return m_model.addJoint(m_parent_id,jmodel,m_joint_placement,m_joint_name,m_max_effort,m_max_velocity,m_min_config,m_max_config,m_friction,m_damping);
}
}; // struct addJointVisitor1
public:
/* --- Exposing C++ API to python through the handler ----------------- */
......@@ -305,17 +205,16 @@ namespace pinocchio
static JointIndex addJoint0(Model & model,
JointIndex parent_id,
bp::object jmodel,
const JointModel & jmodel,
const SE3 & joint_placement,
const std::string & joint_name)
{
JointModelVariant jmodel_variant = bp::extract<JointModelVariant> (jmodel)();
return boost::apply_visitor(addJointVisitor0(model,parent_id,joint_placement,joint_name), jmodel_variant);
return model.addJoint(parent_id,jmodel,joint_placement,joint_name);
}
static JointIndex addJoint1(Model & model,
JointIndex parent_id,
bp::object jmodel,
const JointModel & jmodel,
const SE3 & joint_placement,
const std::string & joint_name,
const VectorXs & max_effort,
......@@ -323,13 +222,13 @@ namespace pinocchio
const VectorXs & min_config,
const VectorXs & max_config)
{
JointModelVariant jmodel_variant = bp::extract<JointModelVariant> (jmodel)();
return boost::apply_visitor(addJointVisitor1(model,parent_id,joint_placement,joint_name,max_effort,max_velocity,min_config,max_config), jmodel_variant);
return model.addJoint(parent_id,jmodel,joint_placement,joint_name,
max_effort,max_velocity,min_config,max_config);
}
static JointIndex addJoint2(Model & model,
JointIndex parent_id,
bp::object jmodel,
const JointModel & jmodel,
const SE3 & joint_placement,
const std::string & joint_name,
const VectorXs & max_effort,
......@@ -339,8 +238,9 @@ namespace pinocchio
const VectorXs & friction,
const VectorXs & damping)
{
JointModelVariant jmodel_variant = bp::extract<JointModelVariant> (jmodel)();
return boost::apply_visitor(addJointVisitor2(model,parent_id,joint_placement,joint_name,max_effort,max_velocity,min_config,max_config,friction,damping), jmodel_variant);
return model.addJoint(parent_id,jmodel,joint_placement,joint_name,
max_effort,max_velocity,min_config,max_config,
friction,damping);
}
static Data createData(const Model & model) { return Data(model); }
......
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