From aa25e7216357794687a2babb85fea05cce196278 Mon Sep 17 00:00:00 2001
From: jcarpent <jcarpent@laas.fr>
Date: Mon, 8 Aug 2016 14:47:21 +0200
Subject: [PATCH] [Python] Expose existFrame and getFrameId method
The addFrame returns now a bool which its false when the frame already
exists.
---
bindings/python/model.hpp | 22 ++++++++++++++++------
1 file changed, 16 insertions(+), 6 deletions(-)
diff --git a/bindings/python/model.hpp b/bindings/python/model.hpp
index d7a040821..6e16e9686 100644
--- a/bindings/python/model.hpp
+++ b/bindings/python/model.hpp
@@ -135,8 +135,11 @@ namespace se3
.def("getFrameParent", &ModelPythonVisitor::getFrameParent)
.def("getFramePlacement", &ModelPythonVisitor::getFramePlacement)
- .def("addFrame", &ModelPythonVisitor::addFrame)
- .add_property("frames", bp::make_function(&ModelPythonVisitor::operationalFrames, bp::return_internal_reference<>()) )
+ .def("addFrame",(bool (*)(ModelHandler&,const std::string &,const JointIndex, const SE3_fx &,const FrameType &)) &ModelPythonVisitor::addFrame,bp::args("name","parent_id","placement","type"),"Add a frame to the vector of frames. See also Frame for more details. Returns False if the frame already exists.")
+ .def("addFrame",(bool (*)(ModelHandler&,const Frame &)) &ModelPythonVisitor::addFrame,bp::args("frame"),"Add a frame to the vector of frames.")
+ .add_property("frames", bp::make_function(&ModelPythonVisitor::frames, bp::return_internal_reference<>()),"Vector of frames contained in the model.")
+ .def("existFrame",&ModelPythonVisitor::existFrame,bp::args("name"),"Returns true if the frame given by its name exists inside the Model.")
+ .def("getFrameId",&ModelPythonVisitor::getFrameId,bp::args("name"),"Returns the index of the frame given by its name. If the frame is not in the frames vector, it returns the current size of the frames vector.")
.add_property("gravity",&ModelPythonVisitor::gravity,&ModelPythonVisitor::setGravity)
.def("BuildEmptyModel",&ModelPythonVisitor::maker_empty)
@@ -190,12 +193,19 @@ namespace se3
static Eigen::VectorXd upperPositionLimit(ModelHandler & m) {return m->upperPositionLimit;}
static Model::JointIndex getFrameParent( ModelHandler & m, const std::string & name ) { return m->getFrameParent(name); }
- static SE3 getFramePlacement( ModelHandler & m, const std::string & name ) { return m->getFramePlacement(name); }
- static void addFrame( ModelHandler & m, const std::string & frameName, const JointIndex parent, const SE3_fx & placementWrtParent )
+ static SE3 getFramePlacement(ModelHandler & m, const std::string & name) { return m->getFramePlacement(name); }
+
+ static bool addFrame(ModelHandler & m, const Frame & frame) { return m->addFrame(frame); }
+ static bool addFrame( ModelHandler & m, const std::string & frameName, const JointIndex parent, const SE3_fx & placementWrtParent, const FrameType & type)
{
- m->addFrame(frameName, parent, placementWrtParent);
+ return m->addFrame(frameName,parent,placementWrtParent,type);
}
- static std::vector<Frame> & operationalFrames (ModelHandler & m ) { return m->frames;}
+ static Model::FrameIndex getFrameId(const ModelHandler & m, const std::string & frame_name)
+ { return m->getFrameId(frame_name); }
+ static bool existFrame(const ModelHandler & m, const std::string & frame_name)
+ { return m->existFrame(frame_name); }
+
+ static std::vector<Frame> & frames (ModelHandler & m ) { return m->frames;}
static Motion gravity( ModelHandler & m ) { return m->gravity; }
static void setGravity( ModelHandler & m,const Motion_fx & g ) { m->gravity = g; }
--
GitLab