From 929243a45f6d5ad73692f098190a644f067f4c01 Mon Sep 17 00:00:00 2001
From: Gabriele Buondonno <gbuondon@laas.fr>
Date: Tue, 19 Feb 2019 23:55:04 +0100
Subject: [PATCH] [python] make jointJacobian equal to C++ version and remove
deprecated calls
---
bindings/python/algorithm/expose-jacobian.cpp | 17 +++--------
bindings/python/pinocchio/deprecated.py | 28 ++++++++++++++++---
bindings/python/pinocchio/robot_wrapper.py | 18 ++++++++----
src/algorithm/jacobian.hpp | 16 ++++++-----
unittest/python/bindings_dynamics.py | 2 +-
5 files changed, 51 insertions(+), 30 deletions(-)
diff --git a/bindings/python/algorithm/expose-jacobian.cpp b/bindings/python/algorithm/expose-jacobian.cpp
index 1913a09a9..4601141e2 100644
--- a/bindings/python/algorithm/expose-jacobian.cpp
+++ b/bindings/python/algorithm/expose-jacobian.cpp
@@ -14,16 +14,10 @@ namespace pinocchio
jacobian_proxy(const Model & model,
Data & data,
const Eigen::VectorXd & q,
- Model::JointIndex jointId,
- ReferenceFrame rf,
- bool update_kinematics)
+ Model::JointIndex jointId)
{
Data::Matrix6x J(6,model.nv); J.setZero();
-
- if (update_kinematics)
- computeJointJacobians(model,data,q);
-
- getJointJacobian(model,data,jointId,rf,J);
+ jointJacobian(model,data,q,jointId,J);
return J;
}
@@ -75,11 +69,8 @@ namespace pinocchio
bp::args("Model, the model of the kinematic tree",
"Data, the data associated to the model where the results are stored",
"Joint configuration q (size Model::nq)",
- "Joint ID, the index of the joint.",
- "Reference frame rf (either ReferenceFrame.LOCAL or ReferenceFrame.WORLD)",
- "update_kinematics (true = update the value of the total jacobian)"),
- "Computes the jacobian of a given given joint according to the given input configuration."
- "If rf is set to LOCAL, it returns the jacobian associated to the joint frame. Otherwise, it returns the jacobian of the frame coinciding with the world frame.");
+ "Joint ID, the index of the joint"),
+ "Computes the Jacobian of a specific joint frame expressed in the local frame of the joint according to the given input configuration.");
bp::def("getJointJacobian",get_jacobian_proxy,
bp::args("Model, the model of the kinematic tree",
diff --git a/bindings/python/pinocchio/deprecated.py b/bindings/python/pinocchio/deprecated.py
index c83c8f632..dffff196a 100644
--- a/bindings/python/pinocchio/deprecated.py
+++ b/bindings/python/pinocchio/deprecated.py
@@ -60,12 +60,32 @@ def computeJacobians(model,data,q=None):
else:
return pin.computeJointJacobians(model,data,q)
+# This function is only deprecated when using a specific signature. Therefore, it needs special care
+# Marked as deprecated on 19 Feb 2019
+def jointJacobian(model, data, q, jointId, *args):
+ if len(args)==2:
+ message = ("This function signature has been deprecated and will be removed in future releases of Pinocchio. "
+ "Please change for the new signature of jointJacobian or use computeJointJacobian + getJointJacobian.")
+ _warnings.warn(message, category=DeprecatedWarning, stacklevel=2)
+ rf = args[0]
+ update_kinematics = args[1]
+ if update_kinematics:
+ pin.computeJointJacobians(model,data,q)
+ return pin.getJointJacobian(model,data,jointId,rf)
+ else:
+ return pin.jointJacobian(model,data,q,jointId)
+jointJacobian.__doc__ = (
+ pin.jointJacobian.__doc__
+ + '\n\njointJacobian( (Model)Model, (Data)Data, (object)Joint configuration q (size Model::nq), (Index)jointId, ReferenceFrame rf, (bool)updateKinematics) -> object :'
+ + '\n This function signature has been deprecated and will be removed in future releases of Pinocchio.'
+)
+
@deprecated("This function has been renamed jointJacobian and will be removed in future releases of Pinocchio. Please change for new jointJacobian function.")
def jacobian(model,data,q,jointId,local,update_kinematics):
- if local:
- return pin.jointJacobian(model,data,q,jointId,pin.ReferenceFrame.LOCAL,update_kinematics)
- else:
- return pin.jointJacobian(model,data,q,jointId,pin.ReferenceFrame.WORLD,update_kinematics)
+ rf = pin.ReferenceFrame.LOCAL if local else pin.ReferenceFrame.WORLD
+ if update_kinematics:
+ computeJointJacobians(model,data,q)
+ return pin.getJointJacobian(model,data,jointId,rf)
@deprecated("This function has been renamed getJointJacobian and will be removed in future releases of Pinocchio. Please change for new getJointJacobian function.")
def getJacobian(model,data,jointId,local):
diff --git a/bindings/python/pinocchio/robot_wrapper.py b/bindings/python/pinocchio/robot_wrapper.py
index 3ec94b1f6..7ea33aa6b 100644
--- a/bindings/python/pinocchio/robot_wrapper.py
+++ b/bindings/python/pinocchio/robot_wrapper.py
@@ -188,8 +188,13 @@ class RobotWrapper(object):
else:
return pin.jointJacobian(self.model, self.data, q, index, pin.ReferenceFrame.WORLD, update_kinematics)
- def jointJacobian(self, q, index, rf_frame=pin.ReferenceFrame.LOCAL, update_kinematics=True):
- return pin.jointJacobian(self.model, self.data, q, index, rf_frame, update_kinematics)
+ def jointJacobian(self, q, index, *args):
+ if len(args)==0:
+ return pin.jointJacobian(self.model, self.data, q, index)
+ else: # use deprecated signature (19 Feb 2019)
+ update_kinematics = True if len(args)==1 else args[1]
+ rf = args[0]
+ return pin.jointJacobian(self.model, self.data, q, index, rf_frame, update_kinematics)
def getJointJacobian(self, index, rf_frame=pin.ReferenceFrame.LOCAL):
return pin.getFrameJacobian(self.model, self.data, index, rf_frame)
@@ -229,11 +234,14 @@ class RobotWrapper(object):
return pin.getFrameJacobian(self.model, self.data, frame_id, rf_frame)
'''
- Similar to getFrameJacobian but it also calls before pin.computeJointJacobians and
+ Similar to getFrameJacobian but does not need pin.computeJointJacobians and
pin.updateFramePlacements to update internal value of self.data related to frames.
'''
- def frameJacobian(self, q, frame_id, rf_frame=pin.ReferenceFrame.LOCAL):
- return pin.frameJacobian(self.model, self.data, q, frame_id, rf_frame)
+ def frameJacobian(self, q, frame_id, rf_frame=None):
+ if rf_frame: # use deprecated signature (19 Feb 2019)
+ return pin.frameJacobian(self.model, self.data, q, frame_id, rf_frame)
+ else: # use normal signature
+ return pin.frameJacobian(self.model, self.data, q, frame_id)
# --- ACCESS TO NAMES ----
diff --git a/src/algorithm/jacobian.hpp b/src/algorithm/jacobian.hpp
index 33470bcd4..2445d217a 100644
--- a/src/algorithm/jacobian.hpp
+++ b/src/algorithm/jacobian.hpp
@@ -132,7 +132,7 @@ namespace pinocchio
///
/// \brief Computes the Jacobian of a specific joint frame expressed either in the world (rf = WORLD) frame or in the local frame (rf = LOCAL) of the joint.
- /// \note This jacobian is extracted from data.J. You have to run pinocchio::computeJacobians before calling it.
+ /// \note This jacobian is extracted from data.J. You have to run pinocchio::computeJointJacobians before calling it.
///
/// \deprecated This function is now deprecated. Please refer now to pinocchio::getJointJacobian for similar function with updated name.
///
@@ -167,9 +167,10 @@ namespace pinocchio
///
/// \return The Jacobian of the specific joint frame expressed in the local frame of the joint (matrix 6 x model.nv).
///
- /// \remark This function is equivalent to call first computeJacobians(model,data,q) and then call getJointJacobian(model,data,jointId,LOCAL,J).
+ /// \remark The result of this function is equivalent to call first computeJointJacobians(model,data,q) and then call getJointJacobian(model,data,jointId,LOCAL,J),
+ /// but forwardKinematics is not fully computed.
/// It is worth to call jacobian if you only need a single Jacobian for a specific joint. Otherwise, for several Jacobians, it is better
- /// to call computeJacobians(model,data,q) followed by getJointJacobian(model,data,jointId,LOCAL,J) for each Jacobian.
+ /// to call computeJointJacobians(model,data,q) followed by getJointJacobian(model,data,jointId,LOCAL,J) for each Jacobian.
///
template<typename Scalar, int Options, template<typename,int> class JointCollectionTpl, typename ConfigVectorType, typename Matrix6Like>
inline void jointJacobian(const ModelTpl<Scalar,Options,JointCollectionTpl> & model,
@@ -191,9 +192,10 @@ namespace pinocchio
///
/// \return The Jacobian of the specific joint frame expressed in the local frame of the joint (matrix 6 x model.nv).
///
- /// \remark This function is equivalent to call first computeJacobians(model,data,q) and then call getJointJacobian<LOCAL>(model,data,jointId,J).
+ /// \remark The result of this function is equivalent to call first computeJointJacobians(model,data,q) and then call getJointJacobian<LOCAL>(model,data,jointId,J),
+ /// but forwardKinematics is not fully computed.
/// It is worth to call jacobian if you only need a single Jacobian for a specific joint. Otherwise, for several Jacobians, it is better
- /// to call computeJacobians(model,data,q) followed by getJointJacobian<LOCAL>(model,data,jointId,J) for each Jacobian.
+ /// to call computeJointJacobians(model,data,q) followed by getJointJacobian<LOCAL>(model,data,jointId,J) for each Jacobian.
///
PINOCCHIO_DEPRECATED
inline void jacobian(const Model & model,
@@ -271,7 +273,7 @@ namespace pinocchio
///
/// \brief Computes the Jacobian time variation of a specific joint frame expressed either in the world frame (rf = WORLD) or in the local frame (rf = LOCAL) of the joint.
- /// \note This jacobian is extracted from data.dJ. You have to run pinocchio::computeJacobiansTimeVariation before calling it.
+ /// \note This jacobian is extracted from data.dJ. You have to run pinocchio::computeJointJacobiansTimeVariation before calling it.
///
/// \tparam JointCollection Collection of Joint types.
/// \tparam Matrix6xLike Type of the matrix containing the joint Jacobian.
@@ -291,7 +293,7 @@ namespace pinocchio
///
/// \brief Computes the Jacobian time variation of a specific joint frame expressed either in the world frame (rf = WORLD) or in the local frame (rf = LOCAL) of the joint.
- /// \note This jacobian is extracted from data.dJ. You have to run pinocchio::computeJacobiansTimeVariation before calling it.
+ /// \note This jacobian is extracted from data.dJ. You have to run pinocchio::computeJointJacobiansTimeVariation before calling it.
///
/// \deprecated This function is now deprecated. Please refer now to pinocchio::getJointJacobianTimeVariation for similar function with updated name.
///
diff --git a/unittest/python/bindings_dynamics.py b/unittest/python/bindings_dynamics.py
index 1b287fb6e..de2fda3b0 100644
--- a/unittest/python/bindings_dynamics.py
+++ b/unittest/python/bindings_dynamics.py
@@ -27,7 +27,7 @@ class TestDynamicsBindings(TestCase):
self.tolerance = 1e-9
# we compute J on a different self.data
- self.J = pin.jointJacobian(self.model,self.model.createData(),self.q,self.model.getJointId('lleg6_joint'),pin.ReferenceFrame.LOCAL,True)
+ self.J = pin.jointJacobian(self.model,self.model.createData(),self.q,self.model.getJointId('lleg6_joint'))
self.gamma = zero(6)
def test_forwardDynamics7(self):
--
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