1 /*
2 * Copyright (c) 2011-2021, The DART development contributors
3 * All rights reserved.
4 *
5 * The list of contributors can be found at:
6 * https://github.com/dartsim/dart/blob/master/LICENSE
7 *
8 * This file is provided under the following "BSD-style" License:
9 * Redistribution and use in source and binary forms, with or
10 * without modification, are permitted provided that the following
11 * conditions are met:
12 * * Redistributions of source code must retain the above copyright
13 * notice, this list of conditions and the following disclaimer.
14 * * Redistributions in binary form must reproduce the above
15 * copyright notice, this list of conditions and the following
16 * disclaimer in the documentation and/or other materials provided
17 * with the distribution.
18 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
19 * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
20 * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
21 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
23 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
24 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
25 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
26 * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30 * POSSIBILITY OF SUCH DAMAGE.
31 */
32
33 #include <dart/dart.hpp>
34 #include <eigen_geometry_pybind.h>
35 #include <pybind11/eigen.h>
36 #include <pybind11/pybind11.h>
37 #include "Joint.hpp"
38
39 namespace py = pybind11;
40
41 namespace dart {
42 namespace python {
43
TranslationalJoint2D(py::module & m)44 void TranslationalJoint2D(py::module& m)
45 {
46 ::py::class_<dart::dynamics::TranslationalJoint2D::UniqueProperties>(
47 m, "TranslationalJoint2DUniqueProperties")
48 .def(::py::init<>());
49
50 ::py::class_<
51 dart::dynamics::TranslationalJoint2D::Properties,
52 dart::dynamics::GenericJoint<math::R2Space>::Properties,
53 dart::dynamics::TranslationalJoint2D::UniqueProperties>(
54 m, "TranslationalJoint2DProperties")
55 .def(::py::init<>())
56 .def(
57 ::py::init<const dart::dynamics::GenericJoint<
58 dart::math::R2Space>::Properties&>(),
59 ::py::arg("genericJointProperties"))
60 .def(
61 ::py::init<
62 const dart::dynamics::GenericJoint<
63 dart::math::R2Space>::Properties&,
64 const dart::dynamics::TranslationalJoint2D::UniqueProperties&>(),
65 ::py::arg("genericJointProperties"),
66 ::py::arg("uniqueProperties"));
67
68 DARTPY_DEFINE_JOINT_COMMON_BASE(TranslationalJoint2D, R2Space)
69
70 ::py::class_<
71 dart::dynamics::TranslationalJoint2D,
72 dart::common::EmbedPropertiesOnTopOf<
73 dart::dynamics::TranslationalJoint2D,
74 dart::dynamics::detail::TranslationalJoint2DUniqueProperties,
75 dart::dynamics::GenericJoint<dart::math::RealVectorSpace<2> > >,
76 std::shared_ptr<dart::dynamics::TranslationalJoint2D> >(
77 m, "TranslationalJoint2D")
78 .def(
79 "hasTranslationalJoint2DAspect",
80 +[](const dart::dynamics::TranslationalJoint2D* self) -> bool {
81 return self->hasTranslationalJoint2DAspect();
82 })
83 .def(
84 "setTranslationalJoint2DAspect",
85 +[](dart::dynamics::TranslationalJoint2D* self,
86 const dart::common::EmbedPropertiesOnTopOf<
87 dart::dynamics::TranslationalJoint2D,
88 dart::dynamics::detail::TranslationalJoint2DUniqueProperties,
89 dart::dynamics::GenericJoint<
90 dart::math::RealVectorSpace<2> > >::Aspect* aspect) {
91 self->setTranslationalJoint2DAspect(aspect);
92 },
93 ::py::arg("aspect"))
94 .def(
95 "removeTranslationalJoint2DAspect",
96 +[](dart::dynamics::TranslationalJoint2D* self) {
97 self->removeTranslationalJoint2DAspect();
98 })
99 .def(
100 "releaseTranslationalJoint2DAspect",
101 +[](dart::dynamics::TranslationalJoint2D* self)
102 -> std::unique_ptr<dart::common::EmbedPropertiesOnTopOf<
103 dart::dynamics::TranslationalJoint2D,
104 dart::dynamics::detail::TranslationalJoint2DUniqueProperties,
105 dart::dynamics::GenericJoint<
106 dart::math::RealVectorSpace<2> > >::Aspect> {
107 return self->releaseTranslationalJoint2DAspect();
108 })
109 .def(
110 "setProperties",
111 +[](dart::dynamics::TranslationalJoint2D* self,
112 const dart::dynamics::TranslationalJoint2D::Properties&
113 properties) { self->setProperties(properties); },
114 ::py::arg("properties"))
115 .def(
116 "setProperties",
117 +[](dart::dynamics::TranslationalJoint2D* self,
118 const dart::dynamics::TranslationalJoint2D::UniqueProperties&
119 properties) { self->setProperties(properties); },
120 ::py::arg("properties"))
121 .def(
122 "setAspectProperties",
123 +[](dart::dynamics::TranslationalJoint2D* self,
124 const dart::common::EmbedPropertiesOnTopOf<
125 dart::dynamics::TranslationalJoint2D,
126 dart::dynamics::detail::TranslationalJoint2DUniqueProperties,
127 dart::dynamics::GenericJoint<
128 dart::math::RealVectorSpace<2> > >::AspectProperties&
129 properties) { self->setAspectProperties(properties); },
130 ::py::arg("properties"))
131 .def(
132 "getTranslationalJoint2DProperties",
133 +[](const dart::dynamics::TranslationalJoint2D* self)
134 -> dart::dynamics::TranslationalJoint2D::Properties {
135 return self->getTranslationalJoint2DProperties();
136 })
137 .def(
138 "copy",
139 +[](dart::dynamics::TranslationalJoint2D* self,
140 const dart::dynamics::TranslationalJoint2D* otherJoint) {
141 self->copy(otherJoint);
142 },
143 ::py::arg("otherJoint"))
144 .def(
145 "getType",
146 +[](const dart::dynamics::TranslationalJoint2D* self)
147 -> const std::string& { return self->getType(); },
148 ::py::return_value_policy::reference_internal)
149 .def(
150 "isCyclic",
151 +[](const dart::dynamics::TranslationalJoint2D* self,
152 std::size_t index) -> bool { return self->isCyclic(index); },
153 ::py::arg("index"))
154 .def(
155 "setXYPlane",
156 +[](dart::dynamics::TranslationalJoint2D* self) {
157 self->setXYPlane();
158 })
159 .def(
160 "setXYPlane",
161 +[](dart::dynamics::TranslationalJoint2D* self, bool renameDofs) {
162 self->setXYPlane(renameDofs);
163 },
164 ::py::arg("renameDofs"))
165 .def(
166 "setYZPlane",
167 +[](dart::dynamics::TranslationalJoint2D* self) {
168 self->setYZPlane();
169 })
170 .def(
171 "setYZPlane",
172 +[](dart::dynamics::TranslationalJoint2D* self, bool renameDofs) {
173 self->setYZPlane(renameDofs);
174 },
175 ::py::arg("renameDofs"))
176 .def(
177 "setZXPlane",
178 +[](dart::dynamics::TranslationalJoint2D* self) {
179 self->setZXPlane();
180 })
181 .def(
182 "setZXPlane",
183 +[](dart::dynamics::TranslationalJoint2D* self, bool renameDofs) {
184 self->setZXPlane(renameDofs);
185 },
186 ::py::arg("renameDofs"))
187 .def(
188 "setArbitraryPlane",
189 +[](dart::dynamics::TranslationalJoint2D* self,
190 const Eigen::Vector3d& transAxis1,
191 const Eigen::Vector3d& transAxis2) {
192 self->setArbitraryPlane(transAxis1, transAxis2);
193 },
194 ::py::arg("transAxis1"),
195 ::py::arg("transAxis2"))
196 .def(
197 "setArbitraryPlane",
198 +[](dart::dynamics::TranslationalJoint2D* self,
199 const Eigen::Vector3d& transAxis1,
200 const Eigen::Vector3d& transAxis2,
201 bool renameDofs) {
202 self->setArbitraryPlane(transAxis1, transAxis2, renameDofs);
203 },
204 ::py::arg("transAxis1"),
205 ::py::arg("transAxis2"),
206 ::py::arg("renameDofs"))
207 .def(
208 "getPlaneType",
209 +[](const dart::dynamics::TranslationalJoint2D* self)
210 -> dart::dynamics::TranslationalJoint2D::PlaneType {
211 return self->getPlaneType();
212 })
213 .def(
214 "getTranslationalAxis1",
215 +[](const dart::dynamics::TranslationalJoint2D* self)
216 -> Eigen::Vector3d { return self->getTranslationalAxis1(); })
217 .def(
218 "getTranslationalAxis2",
219 +[](const dart::dynamics::TranslationalJoint2D* self)
220 -> Eigen::Vector3d { return self->getTranslationalAxis2(); })
221 .def(
222 "getRelativeJacobianStatic",
223 +[](const dart::dynamics::TranslationalJoint2D* self,
224 const Eigen::Vector2d& positions) -> Eigen::Matrix<double, 6, 2> {
225 return self->getRelativeJacobianStatic(positions);
226 },
227 ::py::arg("positions"))
228 .def_static(
229 "getStaticType",
230 +[]() -> const std::string& {
231 return dart::dynamics::TranslationalJoint2D::getStaticType();
232 },
233 ::py::return_value_policy::reference_internal);
234 }
235
236 } // namespace python
237 } // namespace dart
238