-
Notifications
You must be signed in to change notification settings - Fork 67
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Added RotationSpline pybind11 interface (#339)
Signed-off-by: Alejandro Hernández <[email protected]> Signed-off-by: Louise Poubel <[email protected]> Co-authored-by: Louise Poubel <[email protected]>
- Loading branch information
Showing
6 changed files
with
119 additions
and
1 deletion.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,72 @@ | ||
/* | ||
* 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. | ||
* | ||
*/ | ||
#include <string> | ||
#include "RotationSpline.hh" | ||
#include <ignition/math/RotationSpline.hh> | ||
|
||
namespace ignition | ||
{ | ||
namespace math | ||
{ | ||
namespace python | ||
{ | ||
void defineMathRotationSpline(py::module &m, const std::string &typestr) | ||
{ | ||
using Class = ignition::math::RotationSpline; | ||
std::string pyclass_name = typestr; | ||
py::class_<Class>(m, | ||
pyclass_name.c_str(), | ||
py::buffer_protocol(), | ||
py::dynamic_attr()) | ||
.def(py::init<>()) | ||
.def("add_point", | ||
&Class::AddPoint, | ||
"Adds a control point to the end of the spline.") | ||
.def("point", | ||
&Class::Point, | ||
py::return_value_policy::reference, | ||
"Gets the detail of one of the control points of the spline.") | ||
.def("point_count", | ||
&Class::PointCount, | ||
"Gets the number of control points in the spline.") | ||
.def("clear", | ||
&Class::Clear, | ||
"Clears all the points in the spline.") | ||
.def("update_point", | ||
&Class::UpdatePoint, | ||
"Updates a single point in the spline.") | ||
.def("interpolate", | ||
py::overload_cast<double, const bool>(&Class::Interpolate), | ||
py::arg("_t") = 0, py::arg("_useShortestPath") = true, | ||
"Returns an interpolated point based on a parametric " | ||
"value over the whole series.") | ||
.def("interpolate", | ||
py::overload_cast<const unsigned int, const double, const bool> | ||
(&Class::Interpolate), | ||
py::arg("_fromIndex") = 0, | ||
py::arg("_t") = 0, py::arg("_useShortestPath") = true, | ||
"Interpolates a single segment of the spline " | ||
"given a parametric value.") | ||
.def("auto_calculate", &Class::AutoCalculate, | ||
"Tells the spline whether it should automatically calculate " | ||
"tangents on demand as points are added.") | ||
.def("recalc_tangents", &Class::RecalcTangents, | ||
"Recalculates the tangents associated with this spline."); | ||
} | ||
} // namespace python | ||
} // namespace math | ||
} // namespace ignition |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,42 @@ | ||
/* | ||
* 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. | ||
* | ||
*/ | ||
|
||
#ifndef IGNITION_MATH_PYTHON__ROTATIONSPLINE_HH_ | ||
#define IGNITION_MATH_PYTHON__ROTATIONSPLINE_HH_ | ||
|
||
#include <pybind11/pybind11.h> | ||
#include <string> | ||
|
||
namespace py = pybind11; | ||
|
||
namespace ignition | ||
{ | ||
namespace math | ||
{ | ||
namespace python | ||
{ | ||
/// Define a pybind11 wrapper for an ignition::math::RotationSpline | ||
/** | ||
* \param[in] module a pybind11 module to add the definition to | ||
* \param[in] typestr name of the type used by Python | ||
*/ | ||
void defineMathRotationSpline(py::module &m, const std::string &typestr); | ||
} // namespace python | ||
} // namespace math | ||
} // namespace ignition | ||
|
||
#endif // IGNITION_MATH_PYTHON__ROTATIONSPLINE_HH_ |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
File renamed without changes.