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Verified Commit a97adba1 authored by Justin Carpentier's avatar Justin Carpentier
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python: expose new addJoint signature + minor refactoring

parent a8f5bc9a
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bindings/python/multibody/model.hpp
View file @ a97adba1
......@@ -97,7 +97,7 @@ namespace pinocchio
protected:
struct addJointVisitor
struct addJointVisitor0
: public boost::static_visitor<Index>
{
Model & m_model;
......@@ -105,10 +105,10 @@ namespace pinocchio
const SE3 & m_joint_placement;
const std::string & m_joint_name;
addJointVisitor(Model & model,
const JointIndex parent_id,
const SE3 & joint_placement,
const std::string & 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)
......@@ -120,21 +120,17 @@ namespace pinocchio
{
return m_model.addJoint(m_parent_id,jmodel,m_joint_placement,m_joint_name);
}
}; // struct addJointVisitor
}; // struct addJointVisitor0
struct addJointWithLimitsVisitor
: public boost::static_visitor<Index>
struct addJointVisitor1
: public addJointVisitor0
{
Model & m_model;
const JointIndex m_parent_id;
const SE3 & m_joint_placement;
const std::string & m_joint_name;
const VectorXs & m_max_effort;
const VectorXs & m_max_velocity;
const VectorXs & m_min_config;
const VectorXs & m_max_config;
addJointWithLimitsVisitor(Model & model,
addJointVisitor1(Model & model,
const JointIndex parent_id,
const SE3 & joint_placement,
const std::string & joint_name,
......@@ -142,10 +138,7 @@ namespace pinocchio
const VectorXs & max_velocity,
const VectorXs & min_config,
const VectorXs & max_config)
: m_model(model)
, m_parent_id(parent_id)
, m_joint_placement(joint_placement)
, m_joint_name(joint_name)
: addJointVisitor1(model,parent_id,joint_placement,joint_name)
, m_max_effort(max_effort)
, m_max_velocity(max_velocity)
, m_min_config(min_config)
......@@ -157,7 +150,36 @@ namespace pinocchio
{
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 addJointWithLimitsVisitor
}; // struct addJointVisitor1
struct addJointVisitor2
: public addJointVisitor1
{
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:
......@@ -220,13 +242,21 @@ namespace pinocchio
"Motion vector corresponding to the gravity field expressed in the world Frame.")
// Class Methods
.def("addJoint",&ModelPythonVisitor::addJoint,
.def("addJoint",&ModelPythonVisitor::addJoint0,
bp::args("self","parent_id","joint_model","joint_placement","joint_name"),
"Adds a joint to the kinematic tree. The joint is defined by its placement relative to its parent joint and its name.")
.def("addJoint",&ModelPythonVisitor::addJointWithLimits,
.def("addJoint",&ModelPythonVisitor::addJoint1,
bp::args("self","parent_id","joint_model","joint_placement","joint_name",
"max_effort","max_velocity","min_config","max_config"),
"Adds a joint to the kinematic tree with given bounds. The joint is defined by its placement relative to its parent joint and its name.")
"Adds a joint to the kinematic tree with given bounds. The joint is defined by its placement relative to its parent joint and its name."
"This signature also takes as input effort, velocity limits as well as the bounds on the joint configuration.")
.def("addJoint",&ModelPythonVisitor::addJoint2,
bp::args("self","parent_id","joint_model","joint_placement","joint_name",
"max_effort","max_velocity","min_config","max_config",
"friction","damping"),
"Adds a joint to the kinematic tree with given bounds. The joint is defined by its placement relative to its parent joint and its name.\n"
"This signature also takes as input effort, velocity limits as well as the bounds on the joint configuration.\n"
"The user should also provide the friction and damping related to the joint.")
.def("addJointFrame", &Model::addJointFrame,
addJointFrame_overload(bp::args("self","joint_id", "frame_id"),
"Add the joint provided by its joint_id as a frame to the frame tree.\n"
......@@ -259,28 +289,44 @@ namespace pinocchio
;
}
static JointIndex addJoint(Model & model,
JointIndex parent_id,
bp::object jmodel,
const SE3 & joint_placement,
const std::string & joint_name)
static JointIndex addJoint0(Model & model,
JointIndex parent_id,
bp::object jmodel,
const SE3 & joint_placement,
const std::string & joint_name)
{
JointModelVariant jmodel_variant = bp::extract<JointModelVariant> (jmodel)();
return boost::apply_visitor(addJointVisitor(model,parent_id,joint_placement,joint_name), jmodel_variant);
return boost::apply_visitor(addJointVisitor0(model,parent_id,joint_placement,joint_name), jmodel_variant);
}
static JointIndex addJointWithLimits(Model & model,
JointIndex parent_id,
bp::object jmodel,
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)
static JointIndex addJoint1(Model & model,
JointIndex parent_id,
bp::object jmodel,
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)
{
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);
}
static JointIndex addJoint2(Model & model,
JointIndex parent_id,
bp::object jmodel,
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)
{
JointModelVariant jmodel_variant = bp::extract<JointModelVariant> (jmodel)();
return boost::apply_visitor(addJointWithLimitsVisitor(model,parent_id,joint_placement,joint_name,max_effort,max_velocity,min_config,max_config), jmodel_variant);
return boost::apply_visitor(addJointVisitor2(model,parent_id,joint_placement,joint_name,max_effort,max_velocity,min_config,max_config,friction,damping), jmodel_variant);
}
static Data createData(const Model & model) { return Data(model); }
......
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