Merge pull request #465 from ami-iit/python/conversions

Implement the python bindings for the manif conversions methods

CHANGELOG.md

@@ -18,6 +18,7 @@ All notable changes to this project are documented in this file.
 - Add the possibility to enable/disable the joints and motors state logging in the `YarpRobotLoggerDevice` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/453)
 - Implement `QPInverseKinematics::toString` method and the associated python bindings (https://github.com/ami-iit/bipedal-locomotion-framework/pull/461)
 - Add the cartesian wrenches logging in `YarpRobotLoggerDevice` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/447)
+- Implement the python bindings for the manif conversions methods (https://github.com/ami-iit/bipedal-locomotion-framework/pull/465)
 
 ### Changed
 - Inherits all the `Eigen::Matrix` constructors in the `Wrenchd` class (https://github.com/ami-iit/bipedal-locomotion-framework/pull/441)

bindings/python/CMakeLists.txt

@@ -12,6 +12,7 @@ add_subdirectory(FloatingBaseEstimators)
 add_subdirectory(IK)
 add_subdirectory(TSID)
 add_subdirectory(TextLogging)
+add_subdirectory(Conversions)
 
 include(ConfigureFileWithCMakeIf)
 

bindings/python/Conversions/CMakeLists.txt

@@ -0,0 +1,15 @@
+# Copyright (C) 2021 Istituto Italiano di Tecnologia (IIT). All rights reserved.
+# This software may be modified and distributed under the terms of the
+# GNU Lesser General Public License v2.1 or any later version.
+
+if(FRAMEWORK_COMPILE_ManifConversions)
+
+ set(H_PREFIX include/BipedalLocomotion/bindings/Conversions)
+
+ add_bipedal_locomotion_python_module(
+ NAME ManifConversionsBindings
+ SOURCES src/ManifConversions.cpp src/Module.cpp
+ HEADERS ${H_PREFIX}/ManifConversions.h ${H_PREFIX}/Module.h
+ LINK_LIBRARIES BipedalLocomotion::ManifConversions)
+
+endif()

bindings/python/Conversions/include/BipedalLocomotion/bindings/Conversions/ManifConversions.h

@@ -0,0 +1,26 @@
+/**
+ * @file ManifConversions.h
+ * @authors Giulio Romualdi
+ * @copyright 2021 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * distributed under the terms of the GNU Lesser General Public License v2.1 or any later version.
+ */
+
+#ifndef BIPEDAL_LOCOMOTION_BINDINGS_CONVERSIONS_MANIF_CONVERSIONS_H
+#define BIPEDAL_LOCOMOTION_BINDINGS_CONVERSIONS_MANIF_CONVERSIONS_H
+
+#include <pybind11/pybind11.h>
+
+namespace BipedalLocomotion
+{
+namespace bindings
+{
+namespace Conversions
+{
+
+void CreateManifConversions(pybind11::module& module);
+
+} // namespace Conversions
+} // namespace bindings
+} // namespace BipedalLocomotion
+
+#endif // BIPEDAL_LOCOMOTION_BINDINGS_CONVERSIONS_MANIF_CONVERSIONS_H

bindings/python/Conversions/include/BipedalLocomotion/bindings/Conversions/Module.h

@@ -0,0 +1,26 @@
+/**
+ * @file Module.h
+ * @authors Giulio Romualdi
+ * @copyright 2021 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * distributed under the terms of the GNU Lesser General Public License v2.1 or any later version.
+ */
+
+#ifndef BIPEDAL_LOCOMOTION_BINDINGS_CONVERSIONS_MODULE_H
+#define BIPEDAL_LOCOMOTION_BINDINGS_CONVERSIONS_MODULE_H
+
+#include <pybind11/pybind11.h>
+
+namespace BipedalLocomotion
+{
+namespace bindings
+{
+namespace Conversions
+{
+
+void CreateModule(pybind11::module& module);
+
+} // namespace Conversions
+} // namespace bindings
+} // namespace BipedalLocomotion
+
+#endif // BIPEDAL_LOCOMOTION_BINDINGS_CONVERSIONS_MODULE_H

bindings/python/Conversions/src/ManifConversions.cpp

@@ -0,0 +1,41 @@
+/**
+ * @file ManifConversions.cpp
+ * @authors Giulio Romualdi
+ * @copyright 2021 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * distributed under the terms of the GNU Lesser General Public License v2.1 or any later version.
+ */
+
+#include <pybind11/eigen.h>
+#include <pybind11/pybind11.h>
+
+#include <Eigen/Dense>
+
+#include <BipedalLocomotion/Conversions/ManifConversions.h>
+
+namespace BipedalLocomotion
+{
+namespace bindings
+{
+namespace Conversions
+{
+
+void CreateManifConversions(pybind11::module& module)
+{
+ namespace py = ::pybind11;
+
+ module
+ .def("to_manif_pose",
+ py::overload_cast<const Eigen::Matrix<double, 3, 3>&,
+ const Eigen::Matrix<double, 3, 1>&>(
+ &::BipedalLocomotion::Conversions::toManifPose<double>),
+ py::arg("rotation"),
+ py::arg("translation"))
+ .def("to_manif_rot",
+ py::overload_cast<const Eigen::Matrix<double, 3, 3>&>(
+ &::BipedalLocomotion::Conversions::toManifRot<double>),
+ py::arg("rotation"));
+}
+
+} // namespace Conversions
+} // namespace bindings
+} // namespace BipedalLocomotion

bindings/python/Conversions/src/Module.cpp

@@ -0,0 +1,26 @@
+/**
+ * @file Module.cpp
+ * @authors Giulio Romualdi
+ * @copyright 2021 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * distributed under the terms of the GNU Lesser General Public License v2.1 or any later version.
+ */
+
+#include <pybind11/pybind11.h>
+
+#include <BipedalLocomotion/bindings/Conversions/ManifConversions.h>
+
+namespace BipedalLocomotion
+{
+namespace bindings
+{
+namespace Conversions
+{
+void CreateModule(pybind11::module& module)
+{
+ module.doc() = "Conversions module.";
+
+ CreateManifConversions(module);
+}
+} // namespace Conversions
+} // namespace bindings
+} // namespace BipedalLocomotion

bindings/python/bipedal_locomotion_framework.cpp.in

@@ -48,6 +48,9 @@
 #include <BipedalLocomotion/bindings/TSID/Module.h>
 @endcmakeif FRAMEWORK_COMPILE_TSID
 
+@cmakeif FRAMEWORK_COMPILE_ManifConversions
+#include <BipedalLocomotion/bindings/Conversions/Module.h>
+@endcmakeif FRAMEWORK_COMPILE_ManifConversions
 
 // Create the Python module
 PYBIND11_MODULE(bindings, m)
@@ -112,4 +115,9 @@ PYBIND11_MODULE(bindings, m)
  py::module tsidModule = m.def_submodule("tsid");
  bindings::TSID::CreateModule(tsidModule);
  @endcmakeif FRAMEWORK_COMPILE_TSID
+
+ @cmakeif FRAMEWORK_COMPILE_ManifConversions
+ py::module conversionsModule = m.def_submodule("conversions");
+ bindings::Conversions::CreateModule(conversionsModule);
+ @endcmakeif FRAMEWORK_COMPILE_ManifConversions
 }