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Stack Of Tasks
sot-core
Commits
d4b13427
Commit
d4b13427
authored
Nov 13, 2020
by
Maximilien Naveau
Browse files
cleaning and renaming a bunch of operator in order to get consistent naming.
parent
e0849421
Changes
7
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src/dynamic_graph/sot/core/math_small_entities.py
View file @
d4b13427
...
...
@@ -11,10 +11,10 @@ from .operator import (
HomoToTwist
,
Inverse_of_matrix
,
Inverse_of_matrixHomo
,
Inverse_of_matrixrotation
,
Inverse_of_matrixtwist
,
Inverse_of_unitquat
,
MatrixDiagonal
,
MatrixHomoToPose
,
MatrixHomoToPoseQuaternion
,
PoseQuatToMatrixHomo
,
MatrixHomoToPoseRollPitchYaw
,
MatrixHomoToPoseUTheta
,
MatrixToHomo
,
MatrixToQuaternion
,
MatrixToRPY
,
MatrixToUTheta
,
MatrixHomoToSE3Vector
,
SE3VectorToMatrixHomo
,
MatrixTranspose
,
Multiply_double_vector
,
Multiply_matrix_vector
,
PoseQuat
ernion
ToMatrixHomo
,
MatrixHomoToPoseRollPitchYaw
,
MatrixHomoToPoseUTheta
,
MatrixToHomo
,
MatrixToQuaternion
,
MatrixToRPY
,
MatrixToUTheta
,
MatrixHomoToSE3Vector
,
SE3VectorToMatrixHomo
,
MatrixTranspose
,
Multiply_double_vector
,
Multiply_matrix_vector
,
Multiply_matrixTwist_vector
,
Multiply_matrixHomo_vector
,
Multiply_of_double
,
Multiply_of_matrix
,
Multiply_of_matrixHomo
,
Multiply_of_matrixrotation
,
Multiply_of_matrixtwist
,
...
...
src/dynamic_graph/sot/core/meta_task_posture.py
View file @
d4b13427
...
...
@@ -4,7 +4,7 @@ from dynamic_graph.sot.core.gain_adaptive import GainAdaptive
from
dynamic_graph.sot.core.matrix_util
import
matrixToTuple
,
vectorToTuple
from
dynamic_graph.sot.core.meta_task_6d
import
toFlags
# kept for backward compatibility
from
dynamic_graph.sot.core.meta_tasks
import
setGain
from
dynamic_graph.sot.core.
sot
import
Task
from
dynamic_graph.sot.core.
task
import
Task
from
numpy
import
identity
,
matrix
,
zeros
...
...
src/dynamic_graph/sot/core/meta_task_visual_point.py
View file @
d4b13427
...
...
@@ -3,7 +3,7 @@ from dynamic_graph.sot.core.feature_visual_point import FeatureVisualPoint
from
dynamic_graph.sot.core.gain_adaptive
import
GainAdaptive
from
dynamic_graph.sot.core.meta_tasks
import
setGain
from
dynamic_graph.sot.core.op_point_modifier
import
OpPointModifier
from
dynamic_graph.sot.core.
sot
import
Task
from
dynamic_graph.sot.core.
task
import
Task
from
dynamic_graph.sot.core.visual_point_projecter
import
VisualPointProjecter
...
...
src/matrix/operator-python-module-py.cc
View file @
d4b13427
...
...
@@ -99,12 +99,11 @@ BOOST_PYTHON_MODULE(wrap)
/* --- SE3/SO3 conversions ----------------------------------------------- */
/* ----------------------------------------------------------------------- */
exposeUnaryOp
<
HomogeneousMatrixToVector
>
();
exposeUnaryOp
<
SkewSymToVector
>
();
exposeUnaryOp
<
PoseUThetaToMatrixHomo
>
();
exposeUnaryOp
<
HomogeneousMatrixToVector
>
();
exposeUnaryOp
<
Homogeneous
MatrixToSE3Vector
>
();
exposeUnaryOp
<
SE3VectorTo
HomogeneousMatrix
>
();
exposeUnaryOp
<
MatrixHomoToPoseUTheta
>
();
exposeUnaryOp
<
Matrix
Homo
ToSE3Vector
>
();
exposeUnaryOp
<
SE3VectorTo
MatrixHomo
>
();
exposeUnaryOp
<
PoseQuaternionToMatrixHomo
>
();
exposeUnaryOp
<
MatrixHomoToPoseQuaternion
>
();
exposeUnaryOp
<
MatrixHomoToPoseRollPitchYaw
>
();
...
...
src/matrix/operator.cpp
View file @
d4b13427
...
...
@@ -57,13 +57,13 @@ REGISTER_UNARY_OP(InverserQuaternion, Inverse_of_unitquat);
/* --- SE3/SO3 conversions ----------------------------------------------- */
/* ----------------------------------------------------------------------- */
REGISTER_UNARY_OP
(
HomogeneousMatrixToVector
,
MatrixHomoToPoseUTheta
);
REGISTER_UNARY_OP
(
Homogeneous
MatrixToSE3Vector
,
MatrixHomoToSE3Vector
);
REGISTER_UNARY_OP
(
SE3VectorTo
Homogeneous
Matrix
,
SE3VectorToMatrixHomo
);
REGISTER_UNARY_OP
(
MatrixHomoToPoseUTheta
,
MatrixHomoToPoseUTheta
);
REGISTER_UNARY_OP
(
Matrix
Homo
ToSE3Vector
,
MatrixHomoToSE3Vector
);
REGISTER_UNARY_OP
(
SE3VectorToMatrix
Homo
,
SE3VectorToMatrixHomo
);
REGISTER_UNARY_OP
(
SkewSymToVector
,
SkewSymToVector
);
REGISTER_UNARY_OP
(
PoseUThetaToMatrixHomo
,
PoseUThetaToMatrixHomo
);
REGISTER_UNARY_OP
(
MatrixHomoToPoseQuaternion
,
MatrixHomoToPoseQuaternion
);
REGISTER_UNARY_OP
(
PoseQuaternionToMatrixHomo
,
PoseQuatToMatrixHomo
);
REGISTER_UNARY_OP
(
PoseQuaternionToMatrixHomo
,
PoseQuat
ernion
ToMatrixHomo
);
REGISTER_UNARY_OP
(
MatrixHomoToPoseRollPitchYaw
,
MatrixHomoToPoseRollPitchYaw
);
REGISTER_UNARY_OP
(
PoseRollPitchYawToMatrixHomo
,
PoseRollPitchYawToMatrixHomo
);
REGISTER_UNARY_OP
(
PoseRollPitchYawToPoseUTheta
,
PoseRollPitchYawToPoseUTheta
);
...
...
src/matrix/operator.hh
View file @
d4b13427
...
...
@@ -278,7 +278,7 @@ struct InverserQuaternion
/* --- SE3/SO3 conversions ----------------------------------------------- */
/* ----------------------------------------------------------------------- */
struct
HomogeneousMatrixToVector
struct
MatrixHomoToPoseUTheta
:
public
UnaryOpHeader
<
MatrixHomogeneous
,
dg
::
Vector
>
{
inline
void
operator
()(
const
MatrixHomogeneous
&
M
,
dg
::
Vector
&
res
)
{
res
.
resize
(
6
);
...
...
@@ -310,7 +310,7 @@ struct PoseUThetaToMatrixHomo
}
};
struct
SE3VectorTo
Homogeneous
Matrix
struct
SE3VectorToMatrix
Homo
:
public
UnaryOpHeader
<
dg
::
Vector
,
MatrixHomogeneous
>
{
void
operator
()(
const
dg
::
Vector
&
vect
,
MatrixHomogeneous
&
Mres
)
{
Mres
.
translation
()
=
vect
.
head
<
3
>
();
...
...
@@ -320,7 +320,7 @@ struct SE3VectorToHomogeneousMatrix
}
};
struct
Homogeneous
MatrixToSE3Vector
struct
Matrix
Homo
ToSE3Vector
:
public
UnaryOpHeader
<
MatrixHomogeneous
,
dg
::
Vector
>
{
void
operator
()(
const
MatrixHomogeneous
&
M
,
dg
::
Vector
&
res
)
{
res
.
resize
(
12
);
...
...
tests/matrix/test_operator.cpp
View file @
d4b13427
...
...
@@ -199,7 +199,7 @@ BOOST_AUTO_TEST_CASE(matrixHomo_poseQuaternion) {
test_impl
<
MatrixHomoToPoseQuaternion
,
PoseQuaternionToMatrixHomo
>
();
}
BOOST_AUTO_TEST_CASE
(
matrixHomo_se3Vector
)
{
test_impl
<
Homogeneous
MatrixToSE3Vector
,
SE3VectorTo
Homogeneous
Matrix
>
();
test_impl
<
Matrix
Homo
ToSE3Vector
,
SE3VectorToMatrix
Homo
>
();
}
BOOST_AUTO_TEST_SUITE_END
()
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