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Merge pull request #98 from resibots/text_viz
Text 2D Visualizations
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,135 @@ | ||
| #include "robot_dart.hpp" | ||
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|
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| #include <Eigen/Dense> | ||
| #include <Eigen/Geometry> | ||
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| #include <pybind11/eigen.h> | ||
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| namespace robot_dart { | ||
| namespace python { | ||
| void py_eigen(py::module& module) | ||
| { | ||
| // The following is copied and adapted from DART: https://github.com/dartsim/dart/blob/c9186b042c406835984e76ae3b9bdd8579cd0312/python/dartpy/eigen_geometry_pybind.cpp#L131 | ||
| using T = double; | ||
|
|
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| // Do not return references to matrices (e.g. `Eigen::Ref<>`) so that we have | ||
| // tighter control over validation. | ||
|
|
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| auto m = module.def_submodule("math"); | ||
|
|
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| // Affine2d | ||
| { | ||
| using Class = Eigen::Transform<T, 2, Eigen::Affine>; | ||
| ::pybind11::class_<Class> py_class(m, "Affine2"); | ||
| py_class | ||
| .def(::pybind11::init([]() { | ||
| return Class::Identity(); | ||
| })) | ||
| .def_static("Identity", []() { | ||
| return Class::Identity(); | ||
| }) | ||
| .def(::pybind11::init([](const Eigen::Matrix<T, 3, 3>& matrix) { | ||
| Class out(matrix); | ||
| return out; | ||
| }), | ||
| ::pybind11::arg("matrix")) | ||
| .def(::pybind11::init([](const Eigen::Matrix<T, 2, 2>& rotation, const Eigen::Matrix<T, 2, 1>& translation) { | ||
| Class out = Class::Identity(); | ||
| out.linear() = rotation; | ||
| out.translation() = translation; | ||
| return out; | ||
| }), | ||
| ::pybind11::arg("rotation"), ::pybind11::arg("translation")) | ||
| .def(::pybind11::init([](const Class& other) { | ||
| return other; | ||
| }), | ||
| ::pybind11::arg("other")) | ||
| .def("matrix", [](const Class* self) -> Eigen::Matrix<T, 3, 3> { | ||
| return self->matrix(); | ||
| }) | ||
| .def("set_matrix", [](Class* self, const Eigen::Matrix<T, 3, 3>& matrix) { | ||
| Class update(matrix); | ||
| *self = update; | ||
| }) | ||
| .def("translation", [](const Class* self) -> Eigen::Matrix<T, 2, 1> { | ||
| return self->translation(); | ||
| }) | ||
| .def("set_translation", [](Class* self, const Eigen::Matrix<T, 2, 1>& translation) { | ||
| self->translation() = translation; | ||
| }) | ||
| .def("rotation", [](const Class* self) -> Eigen::Matrix<T, 2, 2> { | ||
| return self->linear(); | ||
| }) | ||
| .def("set_rotation", [](Class* self, const Eigen::Matrix<T, 2, 2>& rotation) { | ||
| self->linear() = rotation; | ||
| }) | ||
| .def("__str__", [](::pybind11::object self) { | ||
| return ::pybind11::str(self.attr("matrix")()); | ||
| }) | ||
| // Do not define operator `__mul__` until we have the Python3 `@` | ||
| // operator so that operations are similar to those of arrays. | ||
| .def( | ||
| "multiply", [](const Class& self, const Class& other) { | ||
| return self * other; | ||
| }, | ||
| ::pybind11::arg("other")) | ||
| .def( | ||
| "multiply", [](const Class& self, const Eigen::Matrix<T, 2, 1>& position) { | ||
| return self * position; | ||
| }, | ||
| ::pybind11::arg("position")) | ||
| .def("inverse", [](const Class* self) { | ||
| return self->inverse(); | ||
| }) | ||
| //============================ | ||
| // Begin: added by robot_dart | ||
| //============================ | ||
| .def( | ||
| "translate", [](Class* self, const Eigen::Matrix<T, 2, 1>& other) { | ||
| self->translate(other); | ||
| }, | ||
| ::pybind11::arg("other")) | ||
| .def( | ||
| "pretranslate", [](Class* self, const Eigen::Matrix<T, 2, 1>& other) { | ||
| self->pretranslate(other); | ||
| }, | ||
| ::pybind11::arg("other")) | ||
| .def( | ||
| "rotate", [](Class* self, const Eigen::Matrix<T, 2, 2>& other) { | ||
| self->rotate(other); | ||
| }, | ||
| ::pybind11::arg("other")) | ||
| .def( | ||
| "prerotate", [](Class* self, const Eigen::Matrix<T, 2, 2>& other) { | ||
| self->prerotate(other); | ||
| }, | ||
| ::pybind11::arg("other")) | ||
| .def( | ||
| "scale", [](Class* self, const Eigen::Matrix<T, 2, 1>& other) { | ||
| self->scale(other); | ||
| }, | ||
| ::pybind11::arg("other")) | ||
| .def( | ||
| "prescale", [](Class* self, const Eigen::Matrix<T, 2, 1>& other) { | ||
| self->prescale(other); | ||
| }, | ||
| ::pybind11::arg("other")) | ||
| .def( | ||
| "shear", [](Class* self, const T& sx, const T& sy) { | ||
| self->shear(sx, sy); | ||
| }, | ||
| ::pybind11::arg("sx"), ::pybind11::arg("sy")) | ||
| // .def( // For some reason this does not compile | ||
| // "preshear", [](Class* self, const T& sx, const T& sy) { | ||
| // self->preshear(sx, sy); | ||
| // }, | ||
| // ::pybind11::arg("sx"), ::pybind11::arg("sy")) | ||
| //========================== | ||
| // End: added by robot_dart | ||
| //========================== | ||
| ; | ||
| ::pybind11::implicitly_convertible<Eigen::Matrix<T, 3, 3>, Class>(); | ||
| } | ||
| } | ||
| } // namespace python | ||
| } // namespace robot_dart |
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