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Added Quaternion pybind11 interface #324
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,210 @@ | ||
| /* | ||
| * 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__QUATERNION_HH_ | ||
| #define IGNITION_MATH_PYTHON__QUATERNION_HH_ | ||
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| #include <string> | ||
|
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| #include <pybind11/pybind11.h> | ||
| #include <pybind11/operators.h> | ||
| #include <pybind11/stl.h> | ||
|
|
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| #include <ignition/math/Quaternion.hh> | ||
| #include <ignition/math/Vector3.hh> | ||
| #include <ignition/math/Matrix3.hh> | ||
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| namespace py = pybind11; | ||
| using namespace pybind11::literals; | ||
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| namespace ignition | ||
| { | ||
| namespace math | ||
| { | ||
| namespace python | ||
| { | ||
| /// Define a pybind11 wrapper for an ignition::math::Quaternion | ||
| /** | ||
| * \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 defineMathQuaternion(py::module &m, const std::string &typestr) | ||
| { | ||
| using Class = ignition::math::Quaternion<T>; | ||
| auto toString = [](const Class &si) { | ||
| std::stringstream stream; | ||
| stream << si; | ||
| return stream.str(); | ||
| }; | ||
| 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<T, T, T, T>()) | ||
| .def(py::init<T, T, T>()) | ||
| .def(py::init<const ignition::math::Vector3<T>&, T>()) | ||
| .def(py::init<const ignition::math::Vector3<T>&>()) | ||
| .def(py::init<const ignition::math::Matrix3<T>&>()) | ||
| .def(py::init<const Class&>()) | ||
| .def(py::self + py::self) | ||
| .def(py::self += py::self) | ||
| .def(-py::self) | ||
| .def(py::self - py::self) | ||
| .def(py::self -= py::self) | ||
| .def(py::self * py::self) | ||
| .def(py::self * float()) | ||
| .def(py::self * ignition::math::Vector3<T>()) | ||
| .def(py::self *= py::self) | ||
| .def(py::self == py::self) | ||
| .def(py::self != py::self) | ||
| // .def(py::self * py::self) | ||
| // .def(py::self *= py::self) | ||
| .def("invert", | ||
| &Class::Invert, | ||
| "Invert the quaternion") | ||
| .def("inverse", | ||
| &Class::Inverse, | ||
| "Get the inverse of this quaternion") | ||
| .def("log", | ||
| &Class::Log, | ||
| "Return the logarithm") | ||
| .def("exp", | ||
| &Class::Exp, | ||
| "Return the exponent") | ||
| .def("normalize", | ||
| &Class::Normalize, | ||
| "Normalize the quaternion") | ||
| .def("normalized", | ||
| &Class::Normalized, | ||
| "Gets a normalized version of this quaternion") | ||
| .def("axis", | ||
| py::overload_cast<T, T, T, T>(&Class::Axis), | ||
| "Set the quaternion from an axis and angle") | ||
| .def("axis", | ||
| py::overload_cast<const ignition::math::Vector3<T>&, T>(&Class::Axis), | ||
| "Set the quaternion from an axis and angle") | ||
| .def("set", | ||
| &Class::Set, | ||
| "Set this quaternion from 4 floating numbers") | ||
| .def("euler", | ||
| py::overload_cast<const ignition::math::Vector3<T>&>(&Class::Euler), | ||
| "Set the quaternion from Euler angles. The order of operations " | ||
| "is roll, pitch, yaw around a fixed body frame axis " | ||
| "(the original frame of the object before rotation is applied).") | ||
| .def("euler", | ||
| py::overload_cast<T, T, T>(&Class::Euler), | ||
| "Set the quaternion from Euler angles.") | ||
| .def("euler", | ||
| py::overload_cast<>(&Class::Euler, py::const_), | ||
| "Return the rotation in Euler angles") | ||
| .def("euler_to_quaternion", | ||
| py::overload_cast<const ignition::math::Vector3<T>&>( | ||
| &Class::EulerToQuaternion), | ||
| "Convert euler angles to quatern.") | ||
| .def("euler_to_quaternion", | ||
| py::overload_cast<T, T, T>(&Class::EulerToQuaternion), | ||
| "Convert euler angles to quatern.") | ||
| .def("roll", &Class::Roll, "Get the Euler roll angle in radians") | ||
| .def("pitch", &Class::Pitch, "Get the Euler pitch angle in radians") | ||
| .def("yaw", &Class::Yaw, "Get the Euler yaw angle in radians") | ||
| .def("to_axis", | ||
| [](const Class &self) { | ||
| ignition::math::Vector3<T> _axis; | ||
| T _angle; | ||
| self.ToAxis(_axis, _angle); | ||
| return std::make_tuple(_axis, _angle); | ||
| }, | ||
| "Return rotation as axis and angle") | ||
| .def("matrix", | ||
| &Class::Matrix, | ||
| "Set from a rotation matrix.") | ||
| .def("from_2_axes", | ||
| &Class::From2Axes, | ||
| "Set this quaternion to represent rotation from " | ||
| "vector _v1 to vector _v2, so that") | ||
| .def("scale", | ||
| &Class::Scale, | ||
| "Scale a Quaternion<T>") | ||
| .def("equal", | ||
| &Class::Equal, | ||
| "Equality test with tolerance.") | ||
| .def("rotate_vector", | ||
| &Class::RotateVector, | ||
| "Rotate a vector using the quaternion") | ||
| .def("rotate_vector_reverse", | ||
| &Class::RotateVectorReverse, | ||
| "Do the reverse rotation of a vector by this quaternion") | ||
| .def("is_finite", | ||
| &Class::IsFinite, | ||
| "See if a quaternion is finite (e.g., not nan)") | ||
| .def("correct", | ||
| &Class::Correct, | ||
| "Correct any nan values in this quaternion") | ||
| .def("x_axis", | ||
| &Class::XAxis, | ||
| "Return the X axis") | ||
| .def("y_axis", | ||
| &Class::YAxis, | ||
| "Return the Y axis") | ||
| .def("z_axis", | ||
| &Class::ZAxis, | ||
| "Return the Z axis") | ||
| .def("round", | ||
| &Class::Round, | ||
| "Round all values to _precision decimal places") | ||
| .def("dot", | ||
| &Class::Dot, | ||
| "Dot product") | ||
| .def("squad", | ||
| &Class::Squad, | ||
| "Spherical quadratic interpolation " | ||
| "given the ends and an interpolation parameter between 0 and 1") | ||
| .def("slerp", | ||
| &Class::Slerp, | ||
| "Spherical linear interpolation between 2 quaternions, " | ||
| " given the ends and an interpolation parameter between 0 and 1") | ||
| .def("integrate", | ||
| &Class::Integrate, | ||
| "Integrate quaternion for constant angular velocity vector " | ||
| "along specified interval `_deltaT`.") | ||
| .def("x", py::overload_cast<>(&Class::X), "Get the x value.") | ||
| .def("y", py::overload_cast<>(&Class::Y), "Get the y value.") | ||
| .def("z", py::overload_cast<>(&Class::Z), "Get the z value.") | ||
| .def("w", py::overload_cast<>(&Class::W), "Get the w value.") | ||
| .def("x", py::overload_cast<T>(&Class::X), "Set the x value.") | ||
| .def("y", py::overload_cast<T>(&Class::Y), "Set the y value.") | ||
| .def("z", py::overload_cast<T>(&Class::Z), "Set the z value.") | ||
| .def("w", py::overload_cast<T>(&Class::W), "Set the w value.") | ||
| .def("__copy__", [](const Class &self) { | ||
| return Class(self); | ||
| }) | ||
| .def("__deepcopy__", [](const Class &self, py::dict) { | ||
| return Class(self); | ||
| }, "memo"_a) | ||
| .def_readonly_static("IDENTITY", &Class::Identity, "Identity matrix") | ||
| .def_readonly_static("ZERO", &Class::Zero, "Zero matrix") | ||
| .def("__str__", toString) | ||
| .def("__repr__", toString); | ||
| } | ||
| } // namespace python | ||
| } // namespace math | ||
| } // namespace ignition | ||
|
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| #endif // IGNITION_MATH_PYTHON__QUATERNION_HH_ |
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