From c81cc2dc887e8e4fa046c45c863a8e4a49a1ee4f Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Wed, 12 Nov 2014 19:01:37 +0100
Subject: [PATCH] Python: corrected a bug in data bindings with Eigen members.
---
src/python/data.hpp | 50 ++++++++++++++++++++++++---------------------
1 file changed, 27 insertions(+), 23 deletions(-)
diff --git a/src/python/data.hpp b/src/python/data.hpp
index b287917e4..d9aacaf49 100644
--- a/src/python/data.hpp
+++ b/src/python/data.hpp
@@ -34,12 +34,16 @@ namespace se3
bp::make_function(&DataPythonVisitor::NAME, \
bp::return_internal_reference<>()), \
DOC)
- //add_property(#NAME,&DataPythonVisitor::NAME,DOC)
- //bp::make_function(&ModelPythonVisitor::inertias,
- // bp::return_internal_reference<>()) )
+#define ADD_DATA_PROPERTY_CONST(TYPE,NAME,DOC) \
+ add_property(#NAME, \
+ bp::make_function(&DataPythonVisitor::NAME), \
+ DOC)
+
#define IMPL_DATA_PROPERTY(TYPE,NAME,DOC) \
static TYPE & NAME( DataHandler & d ) { return d->NAME; }
-
+#define IMPL_DATA_PROPERTY_CONST(TYPE,NAME,DOC) \
+ static TYPE NAME( DataHandler & d ) { return d->NAME; }
+
/* --- Exposing C++ API to python through the handler ----------------- */
template<class PyClass>
@@ -51,21 +55,21 @@ namespace se3
.ADD_DATA_PROPERTY(std::vector<Force>,f,"Body force")
.ADD_DATA_PROPERTY(std::vector<SE3>,oMi,"Body absolute placement (wrt world)")
.ADD_DATA_PROPERTY(std::vector<SE3>,liMi,"Body relative placement (wrt parent)")
- .ADD_DATA_PROPERTY(Eigen::VectorXd,tau,"Joint forces")
+ .ADD_DATA_PROPERTY_CONST(Eigen::VectorXd,tau,"Joint forces")
.ADD_DATA_PROPERTY(std::vector<Inertia>,Ycrb,"Inertia of the sub-tree composit rigid body")
- .ADD_DATA_PROPERTY(Eigen::MatrixXd,M,"Joint Inertia")
- .ADD_DATA_PROPERTY(std::vector<Matrix6x>,Fcrb,"Spatial forces set, used in CRBA")
+ .ADD_DATA_PROPERTY_CONST(Eigen::MatrixXd,M,"Joint Inertia")
+ .ADD_DATA_PROPERTY_CONST(std::vector<Matrix6x>,Fcrb,"Spatial forces set, used in CRBA")
.ADD_DATA_PROPERTY(std::vector<Model::Index>,lastChild,"Index of the last child (for CRBA)")
.ADD_DATA_PROPERTY(std::vector<int>,nvSubtree,"Dimension of the subtree motion space (for CRBA)")
- .ADD_DATA_PROPERTY(Eigen::MatrixXd,U,"Joint Inertia square root (upper triangle)")
- .ADD_DATA_PROPERTY(Eigen::VectorXd,D,"Diagonal of UDUT inertia decomposition")
+ .ADD_DATA_PROPERTY_CONST(Eigen::MatrixXd,U,"Joint Inertia square root (upper triangle)")
+ .ADD_DATA_PROPERTY_CONST(Eigen::VectorXd,D,"Diagonal of UDUT inertia decomposition")
.ADD_DATA_PROPERTY(std::vector<int>,parents_fromRow,"First previous non-zero row in M (used in Cholesky)")
.ADD_DATA_PROPERTY(std::vector<int>,nvSubtree_fromRow,"")
- .ADD_DATA_PROPERTY(Eigen::MatrixXd,J,"Jacobian of joint placement")
+ .ADD_DATA_PROPERTY_CONST(Eigen::MatrixXd,J,"Jacobian of joint placement")
.ADD_DATA_PROPERTY(std::vector<SE3>,iMf,"Body placement wrt to algorithm end effector.")
- .ADD_DATA_PROPERTY(std::vector<Eigen::Vector3d>,com,"Subtree com position.")
+ .ADD_DATA_PROPERTY_CONST(std::vector<Eigen::Vector3d>,com,"Subtree com position.")
.ADD_DATA_PROPERTY(std::vector<double>,mass,"Subtree total mass.")
- .ADD_DATA_PROPERTY(Matrix3x,Jcom,"Jacobian of center of mass.")
+ .ADD_DATA_PROPERTY_CONST(Matrix3x,Jcom,"Jacobian of center of mass.")
;
}
@@ -74,24 +78,24 @@ namespace se3
IMPL_DATA_PROPERTY(std::vector<Force>,f,"Body force")
IMPL_DATA_PROPERTY(std::vector<SE3>,oMi,"Body absolute placement (wrt world)")
IMPL_DATA_PROPERTY(std::vector<SE3>,liMi,"Body relative placement (wrt parent)")
- IMPL_DATA_PROPERTY(Eigen::VectorXd,tau,"Joint forces")
+ IMPL_DATA_PROPERTY_CONST(Eigen::VectorXd,tau,"Joint forces")
IMPL_DATA_PROPERTY(std::vector<Inertia>,Ycrb,"Inertia of the sub-tree composit rigid body")
- IMPL_DATA_PROPERTY(Eigen::MatrixXd,M,"Joint Inertia")
- IMPL_DATA_PROPERTY(std::vector<Matrix6x>,Fcrb,"Spatial forces set, used in CRBA")
+ IMPL_DATA_PROPERTY_CONST(Eigen::MatrixXd,M,"Joint Inertia")
+ IMPL_DATA_PROPERTY_CONST(std::vector<Matrix6x>,Fcrb,"Spatial forces set, used in CRBA")
IMPL_DATA_PROPERTY(std::vector<Model::Index>,lastChild,"Index of the last child (for CRBA)")
IMPL_DATA_PROPERTY(std::vector<int>,nvSubtree,"Dimension of the subtree motion space (for CRBA)")
- IMPL_DATA_PROPERTY(Eigen::MatrixXd,U,"Joint Inertia square root (upper triangle)")
- IMPL_DATA_PROPERTY(Eigen::VectorXd,D,"Diagonal of UDUT inertia decomposition")
+ IMPL_DATA_PROPERTY_CONST(Eigen::MatrixXd,U,"Joint Inertia square root (upper triangle)")
+ IMPL_DATA_PROPERTY_CONST(Eigen::VectorXd,D,"Diagonal of UDUT inertia decomposition")
IMPL_DATA_PROPERTY(std::vector<int>,parents_fromRow,"First previous non-zero row in M (used in Cholesky)")
IMPL_DATA_PROPERTY(std::vector<int>,nvSubtree_fromRow,"")
- IMPL_DATA_PROPERTY(Eigen::MatrixXd,J,"Jacobian of joint placement")
+ IMPL_DATA_PROPERTY_CONST(Eigen::MatrixXd,J,"Jacobian of joint placement")
IMPL_DATA_PROPERTY(std::vector<SE3>,iMf,"Body placement wrt to algorithm end effector.")
- IMPL_DATA_PROPERTY(std::vector<Eigen::Vector3d>,com,"Subtree com position.")
+ IMPL_DATA_PROPERTY_CONST(std::vector<Eigen::Vector3d>,com,"Subtree com position.")
IMPL_DATA_PROPERTY(std::vector<double>,mass,"Subtree total mass.")
- IMPL_DATA_PROPERTY(Matrix3x,Jcom,"Jacobian of center of mass.")
-
- /* --- Expose --------------------------------------------------------- */
- static void expose()
+ IMPL_DATA_PROPERTY_CONST(Matrix3x,Jcom,"Jacobian of center of mass.")
+
+ /* --- Expose --------------------------------------------------------- */
+ static void expose()
{
bp::class_<DataHandler>("Data",
"Articulated rigid body data (const)",
--
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