Merge pull request #1009 from jcarpent/devel

Rename function in Python for uniformization of namings

bindings/python/pinocchio/deprecated.py

@@ -92,3 +92,15 @@ class GeometryObject(pin.GeometryObject):
     def fcl(self):
        return self.geometry
 
+@deprecated("This function is now called SE3ToXYZQUATtuple. Please change for this new signature to delete this warning.")
+def se3ToXYZQUATtuple(M):
+    return pin.SE3ToXYZQUATtuple(M)
+
+@deprecated("This function is now called SE3ToXYZQUAT. Please change for this new signature to delete this warning.")
+def se3ToXYZQUAT(M):
+    return pin.SE3ToXYZQUAT(M)
+
+@deprecated("This function is now called XYZQUATToSE3. Please change for this new signature to delete this warning.")
+def XYZQUATToSe3(x):
+    return pin.XYZQUATToSE3(x)
+

bindings/python/pinocchio/utils.py

 #
-# Copyright (c) 2015-2019 CNRS INRIA
+# Copyright (c) 2015-2020 CNRS INRIA
 #
 
 from __future__ import print_function
@@ -34,29 +34,7 @@ def se3ToXYZQUAT(M):
 
 @deprecated('Now useless. You can directly have access to this function from the main scope of Pinocchio')
 def XYZQUATToSe3(vec):
-    return pin.XYZQUATToSe3(vec)
-
-
-@deprecated('Now useless.')
-def XYZQUATToViewerConfiguration(xyzq):
-    '''
-    Convert the input 7D vector [X,Y,Z,x,y,z,w] to 7D vector [X,Y,Z,x,y,z,w]
-    Gepetto Viewer Corba has changed its convention for quaternions - This function is not more required.
-    See https://github.com/humanoid-path-planner/gepetto-viewer-corba/pull/58 for more details.
-    '''
-    if isinstance(xyzq, (np.matrix)):
-        return xyzq.A.squeeze().tolist()
-    return xyzq
-
-@deprecated('Now useless.')
-def ViewerConfigurationToXYZQUAT(vconf):
-    '''
-    Reverse function of XYZQUATToViewerConfiguration : convert [X,Y,Z,x,y,z,w] to [X,Y,Z,x,y,z,w]
-    Gepetto Viewer Corba has changed its convention for quaternions - This function is not more required.
-    See https://github.com/humanoid-path-planner/gepetto-viewer-corba/pull/58 for more details.
-    '''
-    return vconf
-
+    return pin.XYZQUATToSE3(vec)
 
 def isapprox(a, b, epsilon=1e-6):
     if "np" in a.__class__.__dict__:
@@ -112,4 +90,4 @@ __all__ = ['np', 'npl', 'eye', 'zero', 'rand', 'isapprox', 'mprint',
            'npToTTuple', 'npToTuple', 'rotate',
            'rpyToMatrix', 'matrixToRpy',
            'se3ToXYZQUAT', 'XYZQUATToSe3',
-           'XYZQUATToViewerConfiguration', 'ViewerConfigurationToXYZQUAT', 'fromListToVectorOfString']
+           'fromListToVectorOfString']

bindings/python/pinocchio/visualize/gepetto_visualizer.py

@@ -148,14 +148,14 @@ class GepettoVisualizer(BaseVisualizer):
             pin.updateGeometryPlacements(self.model, self.data, self.collision_model, self.collision_data)
             gui.applyConfigurations (
                     [ self.getViewerNodeName(collision,pin.GeometryType.COLLISION) for collision in self.collision_model.geometryObjects ],
-                    [ pin.se3ToXYZQUATtuple(self.collision_data.oMg[self.collision_model.getGeometryId(collision.name)]) for collision in self.collision_model.geometryObjects ]
+                    [ pin.SE3ToXYZQUATtuple(self.collision_data.oMg[self.collision_model.getGeometryId(collision.name)]) for collision in self.collision_model.geometryObjects ]
                     )
 
         if self.display_visuals:
             pin.updateGeometryPlacements(self.model, self.data, self.visual_model, self.visual_data)
             gui.applyConfigurations (
                     [ self.getViewerNodeName(visual,pin.GeometryType.VISUAL) for visual in self.visual_model.geometryObjects ],
-                    [ pin.se3ToXYZQUATtuple(self.visual_data.oMg[self.visual_model.getGeometryId(visual.name)]) for visual in self.visual_model.geometryObjects ]
+                    [ pin.SE3ToXYZQUATtuple(self.visual_data.oMg[self.visual_model.getGeometryId(visual.name)]) for visual in self.visual_model.geometryObjects ]
                     )
 
         gui.refresh()

bindings/python/utils/conversions.cpp

 //
-// Copyright (c) 2019 CNRS
+// Copyright (c) 2019-2020 CNRS INRIA
 //
 
 #include "pinocchio/bindings/python/fwd.hpp"
@@ -12,11 +12,11 @@ namespace pinocchio
     namespace bp = boost::python;
     typedef SE3::Scalar Scalar;
     typedef Eigen::Matrix<Scalar, Eigen::Dynamic,1> VectorXd;
-    typedef Eigen::Matrix<Scalar, 7, 1> Vector7d;
+    typedef Eigen::Matrix<Scalar, 7,1> Vector7d;
     typedef Eigen::Map<      SE3::Quaternion> QuatMap;
     typedef Eigen::Map<const SE3::Quaternion> QuatConstMap;
 
-    VectorXd se3ToXYZQUAT (const SE3& M)
+    VectorXd SE3ToXYZQUAT(const SE3& M)
     {
       Vector7d res;
       res.head<3>() = M.translation();
@@ -24,7 +24,7 @@ namespace pinocchio
       return res;
     }
 
-    bp::tuple se3ToXYZQUATtuple (const SE3& M)
+    bp::tuple SE3ToXYZQUATtuple(const SE3& M)
     {
       SE3::Quaternion q (M.rotation());
       return bp::make_tuple (
@@ -32,8 +32,8 @@ namespace pinocchio
           q.x(), q.y(), q.z(), q.w());
     }
 
-    template <typename TupleOfList>
-    SE3 XYZQUATToSe3_bp(const TupleOfList& v)
+    template <typename TupleOrList>
+    SE3 XYZQUATToSE3_bp(const TupleOrList& v)
     {
       //bp::extract<SE3::Scalar> to_double;
       SE3::Quaternion q (
@@ -49,7 +49,7 @@ namespace pinocchio
     }
 
     template <typename Vector7Like>
-    SE3 XYZQUATToSe3_ei(const Vector7Like& v)
+    SE3 XYZQUATToSE3_ei(const Vector7Like& v)
     {
       PINOCCHIO_ASSERT_MATRIX_SPECIFIC_SIZE(Vector7Like, v, 7, 1);
       QuatConstMap q (v.template tail<4>().data());
@@ -58,15 +58,20 @@ namespace pinocchio
     
     void exposeConversions()
     {
-      const char* doc1 = "Convert the input SE3 object to a 7D tuple of floats [X,Y,Z,Q1,Q2,Q3,Q4] .";
-      bp::def ("se3ToXYZQUAT"     , se3ToXYZQUAT     , doc1);
-      bp::def ("se3ToXYZQUATtuple", se3ToXYZQUATtuple, doc1);
+      const char* doc1 = "Convert the input SE3 object to a numpy array.";
+      bp::def("SE3ToXYZQUAT"     , SE3ToXYZQUAT     , "M", doc1);
+      const char* doc1_tuple = "Convert the input SE3 object to a 7D tuple of floats [X,Y,Z,x,y,z,w].";
+      bp::def("SE3ToXYZQUATtuple", SE3ToXYZQUATtuple, "M", doc1_tuple);
 
-      const char* doc2 = "Reverse function of se3ToXYZQUAT: convert [X,Y,Z,Q1,Q2,Q3,Q4] to a SE3 element";
-      bp::def ("XYZQUATToSe3", static_cast<SE3 (*) (const bp::tuple&)> (XYZQUATToSe3_bp<bp::tuple>), doc2);
-      bp::def ("XYZQUATToSe3", static_cast<SE3 (*) (const bp::list &)> (XYZQUATToSe3_bp<bp::list >), doc2);
-      bp::def ("XYZQUATToSe3", static_cast<SE3 (*) (const VectorXd &)> (XYZQUATToSe3_ei<VectorXd >), doc2);
-      bp::def ("XYZQUATToSe3", static_cast<SE3 (*) (const Vector7d &)> (XYZQUATToSe3_ei<Vector7d >), doc2);
+      const char* doc2 = "Reverse function of SE3ToXYZQUAT: convert [X,Y,Z,x,y,z,w] to an SE3 element.";
+      bp::def("XYZQUATToSE3",
+              static_cast<SE3 (*) (const bp::tuple&)> (XYZQUATToSE3_bp<bp::tuple>),
+              bp::arg("tuple"),doc2);
+      bp::def("XYZQUATToSE3",
+              static_cast<SE3 (*) (const bp::list &)> (XYZQUATToSE3_bp<bp::list >),
+              bp::arg("list"),doc2);
+      bp::def("XYZQUATToSE3", static_cast<SE3 (*) (const VectorXd &)> (XYZQUATToSE3_ei<VectorXd >),
+              bp::arg("array"),doc2);
     }
     
   } // namespace python

examples/display_shapes.py

@@ -35,16 +35,16 @@ viz = GepettoVisualizer(
 # Initialize the viewer.
 try:
     viz.initViewer()
-except ImportError:
+except ImportError as error:
     print("Error while initializing the viewer. It seems you should install gepetto-viewer")
-    print(err)
+    print(error.message)
     sys.exit(0)
 
 try:
     viz.loadViewerModel("shapes")
-except AttributeError:
+except AttributeError as error:
     print("Error while loading the viewer model. It seems you should start gepetto-viewer")
-    print(err)
+    print(error.message)
     sys.exit(0)
 
 viz.display(np.zeros(0))

unittest/python/bindings_SE3.py

@@ -114,11 +114,11 @@ class TestSE3Bindings(unittest.TestCase):
 
     def test_conversions(self):
         def compute (m):
-            tq_vec = pin.se3ToXYZQUAT      (m)
-            tq_tup = pin.se3ToXYZQUATtuple (m)
-            mm_vec = pin.XYZQUATToSe3 (tq_vec)
-            mm_tup = pin.XYZQUATToSe3 (tq_tup)
-            mm_lis = pin.XYZQUATToSe3 (list(tq_tup))
+            tq_vec = pin.SE3ToXYZQUAT      (m)
+            tq_tup = pin.SE3ToXYZQUATtuple (m)
+            mm_vec = pin.XYZQUATToSE3 (tq_vec)
+            mm_tup = pin.XYZQUATToSE3 (tq_tup)
+            mm_lis = pin.XYZQUATToSE3 (list(tq_tup))
             return tq_vec, tq_tup, mm_vec, mm_tup, mm_lis
 
         m = pin.SE3.Identity()

unittest/python/utils.py

@@ -19,8 +19,8 @@ class TestUtils(TestCase):
         m = pin.SE3.Identity()
         m.translation = np.matrix('1. 2. 3.').T
         m.rotation = np.matrix('1. 0. 0.;0. 0. -1.;0. 1. 0.')  # rotate('x', pi / 2)
-        self.assertApprox(pin.se3ToXYZQUAT(m).T, [1., 2., 3., sqrt(2) / 2, 0, 0, sqrt(2) / 2])
-        self.assertApprox(pin.XYZQUATToSe3([1., 2., 3., sqrt(2) / 2, 0, 0, sqrt(2) / 2]), m)
+        self.assertApprox(pin.SE3ToXYZQUAT(m).T, [1., 2., 3., sqrt(2) / 2, 0, 0, sqrt(2) / 2])
+        self.assertApprox(pin.XYZQUATToSE3([1., 2., 3., sqrt(2) / 2, 0, 0, sqrt(2) / 2]), m)
 
     def test_isapprox(self):
         self.assertFalse(isapprox(1, 2))