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/* | ||
* Copyright (C) 2021 Open Source Robotics Foundation | ||
* | ||
* Licensed under the Apache License, Version 2.0 (the "License"); | ||
* you may not use this file except in compliance with the License. | ||
* You may obtain a copy of the License at | ||
* | ||
* http://www.apache.org/licenses/LICENSE-2.0 | ||
* | ||
* Unless required by applicable law or agreed to in writing, software | ||
* distributed under the License is distributed on an "AS IS" BASIS, | ||
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
* See the License for the specific language governing permissions and | ||
* limitations under the License. | ||
* | ||
*/ | ||
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#ifndef IGNITION_MATH_PYTHON__FILTER_HH_ | ||
#define IGNITION_MATH_PYTHON__FILTER_HH_ | ||
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#include <string> | ||
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#include <pybind11/pybind11.h> | ||
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#include <ignition/math/Filter.hh> | ||
#include <ignition/math/Quaternion.hh> | ||
#include <ignition/math/Vector3.hh> | ||
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namespace py = pybind11; | ||
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namespace ignition | ||
{ | ||
namespace math | ||
{ | ||
namespace python | ||
{ | ||
template<typename T> | ||
class FilterTrampoline : public Filter<T> { | ||
public: | ||
// Inherit the constructors | ||
FilterTrampoline() : Filter<T>() {} | ||
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// Trampoline (need one for each virtual function) | ||
void Set(const T &_val) override | ||
{ | ||
PYBIND11_OVERLOAD_PURE( | ||
void, // Return type (ret_type) | ||
Filter<T>, // Parent class (cname) | ||
Set, // Name of function in C++ | ||
_val // Argument(s) (...) | ||
); | ||
} | ||
// Trampoline (need one for each virtual function) | ||
void Fc(double _fc, double _fs) override | ||
{ | ||
PYBIND11_OVERLOAD_PURE( | ||
void, // Return type (ret_type) | ||
Filter<T>, // Parent class (cname) | ||
Fc, // Name of function in C++ (must match Python name) | ||
_fc, _fs // Argument(s) (...) | ||
); | ||
} | ||
// Trampoline (need one for each virtual function) | ||
const T &Value() const override | ||
{ | ||
PYBIND11_OVERLOAD_PURE( | ||
const T&, // Return type (ret_type) | ||
Filter<T>, // Parent class (cname) | ||
Value // Name of function in C++ (must match Python name) | ||
); | ||
} | ||
}; | ||
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/// Define a pybind11 wrapper for an ignition::math::Filter | ||
/** | ||
* \param[in] module a pybind11 module to add the definition to | ||
* \param[in] typestr name of the type used by Python | ||
*/ | ||
template<typename T> | ||
void defineMathFilter(py::module &m, const std::string &typestr) | ||
{ | ||
using Class = ignition::math::Filter<T>; | ||
std::string pyclass_name = typestr; | ||
py::class_<Class, FilterTrampoline<T>>(m, | ||
pyclass_name.c_str(), | ||
py::buffer_protocol(), | ||
py::dynamic_attr()) | ||
.def(py::init<>()) | ||
.def("set", | ||
&Class::Set, | ||
"Set the output of the filter.") | ||
.def("fc", | ||
&Class::Fc, | ||
"Set the cutoff frequency and sample rate.") | ||
.def("value", | ||
&Class::Value, | ||
"Get the output of the filter."); | ||
} | ||
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template<typename T> | ||
class OnePoleTrampoline : public OnePole<T> { | ||
public: | ||
OnePoleTrampoline() : OnePole<T>() {} | ||
OnePoleTrampoline(double _fc, double _fs) : OnePole<T>(_fc, _fs) {} | ||
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// Trampoline (need one for each virtual function) | ||
void Fc(double _fc, double _fs) override | ||
{ | ||
PYBIND11_OVERLOAD_PURE( | ||
void, // Return type (ret_type) | ||
OnePole<T>, // Parent class (cname) | ||
Fc, // Name of function in C++ (must match Python name) | ||
_fc, // Argument(s) (...) | ||
_fs | ||
); | ||
} | ||
}; | ||
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/// Define a pybind11 wrapper for an ignition::math::OnePole | ||
/** | ||
* \param[in] module a pybind11 module to add the definition to | ||
* \param[in] typestr name of the type used by Python | ||
*/ | ||
template<typename T> | ||
void defineMathOnePole(py::module &m, const std::string &typestr) | ||
{ | ||
using Class = ignition::math::OnePole<T>; | ||
std::string pyclass_name = typestr; | ||
py::class_<Class, OnePoleTrampoline<T>>(m, | ||
pyclass_name.c_str(), | ||
py::buffer_protocol(), | ||
py::dynamic_attr()) | ||
.def(py::init<>()) | ||
.def(py::init<double, double>()) | ||
.def("set", | ||
&Class::Set, | ||
"Set the output of the filter.") | ||
.def("value", | ||
&Class::Value, | ||
"Get the output of the filter.") | ||
.def("fc", | ||
&Class::Fc, | ||
"Set the cutoff frequency and sample rate.") | ||
.def("process", | ||
&Class::Process, | ||
"Update the filter's output."); | ||
} | ||
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/// Define a pybind11 wrapper for an ignition::math::OnePoleQuaterion | ||
/** | ||
* \param[in] module a pybind11 module to add the definition to | ||
* \param[in] typestr name of the type used by Python | ||
*/ | ||
void defineMathOnePoleQuaternion(py::module &m, const std::string &typestr) | ||
{ | ||
using Class = ignition::math::OnePoleQuaternion; | ||
std::string pyclass_name = typestr; | ||
py::class_<Class>(m, | ||
pyclass_name.c_str(), | ||
py::buffer_protocol(), | ||
py::dynamic_attr()) | ||
.def(py::init<>()) | ||
.def(py::init<double, double>()) | ||
.def("set", | ||
&Class::Set, | ||
"Set the output of the filter.") | ||
.def("value", | ||
&Class::Value, | ||
"Get the output of the filter.") | ||
.def("fc", | ||
&Class::Fc, | ||
"Set the cutoff frequency and sample rate.") | ||
.def("process", | ||
&Class::Process, | ||
"Update the filter's output."); | ||
} | ||
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/// Define a pybind11 wrapper for an ignition::math::OnePoleVector3 | ||
/** | ||
* \param[in] module a pybind11 module to add the definition to | ||
* \param[in] typestr name of the type used by Python | ||
*/ | ||
void defineMathOnePoleVector3(py::module &m, const std::string &typestr) | ||
{ | ||
using Class = ignition::math::OnePoleVector3; | ||
std::string pyclass_name = typestr; | ||
py::class_<Class>(m, | ||
pyclass_name.c_str(), | ||
py::buffer_protocol(), | ||
py::dynamic_attr()) | ||
.def(py::init<>()) | ||
.def(py::init<double, double>()) | ||
.def("set", | ||
&Class::Set, | ||
"Set the output of the filter.") | ||
.def("value", | ||
&Class:: | ||
Value, | ||
"Get the output of the filter.") | ||
.def("fc", | ||
&Class::Fc, | ||
"Set the cutoff frequency and sample rate.") | ||
.def("process", | ||
&Class::Process, | ||
"Update the filter's output."); | ||
} | ||
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template<typename T> | ||
class BiQuadTrampoline : public BiQuad<T> | ||
{ | ||
public: | ||
BiQuadTrampoline() : BiQuad<T>() {} | ||
BiQuadTrampoline(double _fc, double _fs) : BiQuad<T>(_fc, _fs) {} | ||
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// Trampoline (need one for each virtual function) | ||
void Fc(double _fc, double _fs) override | ||
{ | ||
PYBIND11_OVERLOAD_PURE( | ||
void, // Return type (ret_type) | ||
Filter<T>, // Parent class (cname) | ||
Fc, // Name of function in C++ (must match Python name) | ||
_fc, _fs // Argument(s) (...) | ||
); | ||
} | ||
// Trampoline (need one for each virtual function) | ||
void Set(const T &_val) override | ||
{ | ||
PYBIND11_OVERLOAD_PURE( | ||
void, // Return type (ret_type) | ||
Filter<T>, // Parent class (cname) | ||
Set, // Name of function in C++ (must match Python name) | ||
_val // Argument(s) (...) | ||
); | ||
} | ||
// Trampoline (need one for each virtual function) | ||
const T& Process(const T &_x) override | ||
{ | ||
PYBIND11_OVERLOAD_PURE( | ||
const T&, // Return type (ret_type) | ||
Filter<T>, // Parent class (cname) | ||
Process, // Name of function in C++ (must match Python name) | ||
_x // Argument(s) (...) | ||
); | ||
} | ||
}; | ||
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/// Define a pybind11 wrapper for an ignition::math::BiQuad | ||
/** | ||
* \param[in] module a pybind11 module to add the definition to | ||
* \param[in] typestr name of the type used by Python | ||
*/ | ||
template<typename T> | ||
void defineMathBiQuad(py::module &m, const std::string &typestr) | ||
{ | ||
using Class = ignition::math::BiQuad<T>; | ||
std::string pyclass_name = typestr; | ||
py::class_<Class, BiQuadTrampoline<T>>(m, | ||
pyclass_name.c_str(), | ||
py::buffer_protocol(), | ||
py::dynamic_attr()) | ||
.def(py::init<>()) | ||
.def(py::init<double, double>()) | ||
.def("set", | ||
&Class::Set, | ||
"Set the output of the filter.") | ||
.def("fc", | ||
py::overload_cast<double, double>(&Class::Fc), | ||
"Set the cutoff frequency and sample rate.") | ||
.def("value", | ||
&Class::Value, | ||
"Get the output of the filter.") | ||
.def("fc", | ||
py::overload_cast<double, double, double>(&Class::Fc), | ||
"Set the cutoff frequency, sample rate and Q coefficient.") | ||
.def("process", | ||
&Class::Process, | ||
"Update the filter's output."); | ||
} | ||
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/// Define a pybind11 wrapper for an ignition::math::BiQuadVector3 | ||
/** | ||
* \param[in] module a pybind11 module to add the definition to | ||
* \param[in] typestr name of the type used by Python | ||
*/ | ||
void defineMathBiQuadVector3(py::module &m, const std::string &typestr) | ||
{ | ||
using Class = ignition::math::BiQuadVector3; | ||
std::string pyclass_name = typestr; | ||
py::class_<Class>(m, | ||
pyclass_name.c_str(), | ||
py::buffer_protocol(), | ||
py::dynamic_attr()) | ||
.def(py::init<>()) | ||
.def(py::init<double, double>()) | ||
.def("set", | ||
&Class::Set, | ||
"Set the output of the filter.") | ||
.def("fc", | ||
py::overload_cast<double, double>(&Class::Fc), | ||
"Set the cutoff frequency and sample rate.") | ||
.def("value", | ||
&Class::Value, | ||
"Get the output of the filter.") | ||
.def("fc", | ||
py::overload_cast<double, double, double>(&Class::Fc), | ||
"Set the cutoff frequency, sample rate and Q coefficient.") | ||
.def("process", | ||
&Class::Process, | ||
"Update the filter's output."); | ||
} | ||
} // namespace python | ||
} // namespace math | ||
} // namespace ignition | ||
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#endif // IGNITION_MATH_PYTHON__FILTER_HH_ |
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