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Fix Wrapper #392

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merged 9 commits into from
Oct 8, 2024
Merged

Fix Wrapper #392

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ce49269
add gtsam:: namespace to all Matrix and Vector declarations
varunagrawal Oct 1, 2024
8a418a5
first install and then test
varunagrawal Oct 7, 2024
66608f8
install pybind11-stubgen as a CI dependency
varunagrawal Oct 7, 2024
dba9d77
remove versioning for pybind11-stubgen
varunagrawal Oct 7, 2024
81a9080
debug stubgen
varunagrawal Oct 7, 2024
39e9fc5
more debugging
varunagrawal Oct 7, 2024
b536c2d
try again
varunagrawal Oct 8, 2024
016f78a
add ssh tunnel for debugging
varunagrawal Oct 8, 2024
d470864
remove sudo from make python-install
varunagrawal Oct 8, 2024
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12 changes: 6 additions & 6 deletions .github/workflows/python-ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -88,7 +88,7 @@ jobs:
- name: Python Dependencies
run: |
# Install dependencies for gtwrap
pip3 install -U pip setuptools numpy pyparsing pyyaml
pip3 install -U pip setuptools numpy pyparsing pyyaml "pybind11-stubgen>=2.5.1"

- name: GTSAM (Linux)
if: runner.os == 'Linux'
Expand All @@ -100,7 +100,7 @@ jobs:
# Build & Install gtsam
mkdir build && cd $_
cmake -D GTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_BUILD_PYTHON=ON ..
sudo make -j$(nproc) install && sudo make python-install
sudo make -j$(nproc) install && make python-install
sudo ldconfig

cd $GITHUB_WORKSPACE # go back to home directory
Expand Down Expand Up @@ -142,10 +142,10 @@ jobs:
run: make -j4
working-directory: ./build

- name: Test
run: make -j4 python-test
working-directory: ./build

- name: Install
run: sudo make -j4 python-install
working-directory: ./build

- name: Test
run: make -j4 python-test
working-directory: ./build
33 changes: 17 additions & 16 deletions gtdynamics.i
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Expand Up @@ -138,7 +138,8 @@ class ContactHeightFactor : gtsam::NoiseModelFactor {
class Link {
Link();
Link(int id, const string &name, const double mass,
const Matrix &inertia, const gtsam::Pose3 &bMcom, const gtsam::Pose3 &bMlink, bool is_fixed = false) ;
const gtsam::Matrix &inertia, const gtsam::Pose3 &bMcom,
const gtsam::Pose3 &bMlink, bool is_fixed = false);

gtdynamics::Link *shared();
int id() const;
Expand All @@ -152,7 +153,7 @@ class Link {
string name() const;
double mass() const;
const gtsam::Pose3 &centerOfMass();
const Matrix &inertia();
const gtsam::Matrix &inertia();
gtsam::Matrix6 inertiaMatrix();

void print(const std::string &s = "") const;
Expand Down Expand Up @@ -191,22 +192,22 @@ virtual class Joint {
gtsam::Pose3 pMc() const;
string name() const;
gtdynamics::Type type() const;
const Vector& pScrewAxis() const;
const Vector& cScrewAxis() const;
Vector screwAxis(const gtdynamics::Link *link) const;
const gtsam::Vector &pScrewAxis() const;
const gtsam::Vector &cScrewAxis() const;
gtsam::Vector screwAxis(const gtdynamics::Link *link) const;
gtsam::Key key() const;
string name() const;
gtdynamics::Link* otherLink(const gtdynamics::Link* link);
std::vector<gtdynamics::Link*> links() const;
gtdynamics::Link* parent() const;
gtdynamics::Link* child() const;
gtdynamics::Link *otherLink(const gtdynamics::Link *link);
std::vector<gtdynamics::Link *> links() const;
gtdynamics::Link *parent() const;
gtdynamics::Link *child() const;
};

virtual class RevoluteJoint : gtdynamics::Joint {
RevoluteJoint(
int id, const string &name, const gtsam::Pose3 &wTj,
const gtdynamics::Link *parent_link, const gtdynamics::Link *child_link,
const Vector &axis,
const gtsam::Vector &axis,
const gtdynamics::JointParams &parameters = gtdynamics::JointParams());
void print(const string &s = "") const;
};
Expand All @@ -215,7 +216,7 @@ virtual class PrismaticJoint : gtdynamics::Joint {
PrismaticJoint(
int id, const string &name, const gtsam::Pose3 &wTj,
const gtdynamics::Link *parent_link, const gtdynamics::Link *child_link,
const Vector &axis,
const gtsam::Vector &axis,
const gtdynamics::JointParams &parameters = gtdynamics::JointParams());
void print(const string &s = "") const;
};
Expand All @@ -224,7 +225,7 @@ virtual class HelicalJoint : gtdynamics::Joint {
HelicalJoint(
int id, const string &name, const gtsam::Pose3 &wTj,
const gtdynamics::Link *parent_link, const gtdynamics::Link *child_link,
const Vector &axis, double thread_pitch,
const gtsam::Vector &axis, double thread_pitch,
const gtdynamics::JointParams &parameters = gtdynamics::JointParams());
void print(const string &s = "") const;
};
Expand Down Expand Up @@ -512,19 +513,19 @@ class DynamicsGraph {
const gtdynamics::Robot &robot, const int t, const string &link_name,
const gtsam::Pose3 &target_pose) const;

static Vector jointAccels(const gtdynamics::Robot &robot,
static gtsam::Vector jointAccels(const gtdynamics::Robot &robot,
const gtsam::Values &result, const int t);

/* return joint velocities. */
static Vector jointVels(const gtdynamics::Robot &robot,
static gtsam::Vector jointVels(const gtdynamics::Robot &robot,
const gtsam::Values &result, const int t);

/* return joint angles. */
static Vector jointAngles(const gtdynamics::Robot &robot,
static gtsam::Vector jointAngles(const gtdynamics::Robot &robot,
const gtsam::Values &result, const int t);

/* return joint torques. */
static Vector jointTorques(const gtdynamics::Robot &robot,
static gtsam::Vector jointTorques(const gtdynamics::Robot &robot,
const gtsam::Values &result, const int t);

static gtdynamics::JointValueMap jointAccelsMap(const gtdynamics::Robot &robot,
Expand Down
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