Update the python bindings considering the restructure of ContactDete…

…ctors

bindings/python/Contacts/include/BipedalLocomotion/bindings/Contacts/ContactDetectors.h

@@ -1,7 +1,7 @@
 /**
  * @file ContactDetectors.h
  * @authors Giulio Romualdi
- * @copyright 2021 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * @copyright 2021-2023 Istituto Italiano di Tecnologia (IIT). This software may be modified and
  * distributed under the terms of the BSD-3-Clause license.
  */
 
@@ -18,7 +18,6 @@ namespace Contacts
 {
 
 void CreateContactDetector(pybind11::module& module);
-void CreateSchmittTriggerUnit(pybind11::module& module);
 void CreateSchmittTriggerDetector(pybind11::module& module);
 void CreateFixedFootDetector(pybind11::module& module);
 

bindings/python/Contacts/src/ContactDetectors.cpp

@@ -1,7 +1,7 @@
 /**
  * @file ContactDetectors.cpp
  * @authors Prashanth Ramadoss
- * @copyright 2021 Istituto Italiano di Tecnologia (IIT). This software may be modified and
+ * @copyright 2021-2023 Istituto Italiano di Tecnologia (IIT). This software may be modified and
  * distributed under the terms of the BSD-3-Clause license.
  */
 
@@ -12,6 +12,7 @@
 #include <BipedalLocomotion/ContactDetectors/ContactDetector.h>
 #include <BipedalLocomotion/ContactDetectors/FixedFootDetector.h>
 #include <BipedalLocomotion/ContactDetectors/SchmittTriggerDetector.h>
+#include <BipedalLocomotion/Math/SchmittTrigger.h>
 
 #include <BipedalLocomotion/bindings/Contacts/ContactDetectors.h>
 #include <BipedalLocomotion/bindings/System/Advanceable.h>
@@ -35,51 +36,11 @@ void CreateContactDetector(pybind11::module& module)
  py::class_<ContactDetector, Source<EstimatedContactList>>(module, "ContactDetector");
 }
 
-void CreateSchmittTriggerUnit(pybind11::module& module)
-{
- namespace py = ::pybind11;
- using namespace BipedalLocomotion::Contacts;
-
- py::class_<SchmittTriggerInput>(module, "SchmittTriggerInput")
- .def(py::init())
- .def_readwrite("time", &SchmittTriggerInput::time)
- .def_readwrite("value", &SchmittTriggerInput::value);
-
- py::class_<SchmittTriggerParams>(module, "SchmittTriggerParams")
- .def(py::init())
- .def_readwrite("on_threshold", &SchmittTriggerParams::onThreshold)
- .def_readwrite("off_threshold", &SchmittTriggerParams::offThreshold)
- .def_readwrite("switch_on_after", &SchmittTriggerParams::switchOnAfter)
- .def_readwrite("switch_off_after", &SchmittTriggerParams::switchOffAfter);
-
- py::class_<SchmittTriggerUnit>(module, "SchmittTriggerUnit")
- .def(py::init())
- .def("set_state",
- py::overload_cast<const bool&>(&SchmittTriggerUnit::setState),
- py::arg("state"))
- .def("set_state",
- py::overload_cast<const bool&, const double&>(&SchmittTriggerUnit::setState),
- py::arg("state"),
- py::arg("time_now"))
- .def("set_params", &SchmittTriggerUnit::setParams, py::arg("params"))
- .def("update", &SchmittTriggerUnit::update, py::arg("current_time"), py::arg("raw_value"))
- .def("reset", &SchmittTriggerUnit::reset)
- .def("get_state", py::overload_cast<>(&SchmittTriggerUnit::getState))
- .def("get_state_and_switch_time",
- [](SchmittTriggerUnit& impl) {
- double switchTime;
- bool ok = impl.getState(switchTime);
- return std::make_tuple(ok, switchTime);
- })
- .def("get_params", &SchmittTriggerUnit::getParams);
-}
-
 void CreateSchmittTriggerDetector(pybind11::module& module)
 {
  namespace py = ::pybind11;
  using namespace BipedalLocomotion::Contacts;
- using namespace BipedalLocomotion::System;
- using namespace BipedalLocomotion::ParametersHandler;
+ using namespace BipedalLocomotion::Math;
 
  py::class_<SchmittTriggerDetector, ContactDetector>(module, "SchmittTriggerDetector")
  .def(py::init())
@@ -88,28 +49,20 @@ void CreateSchmittTriggerDetector(pybind11::module& module)
  py::overload_cast<const std::string&>(&SchmittTriggerDetector::get, py::const_),
  py::arg("contact_name"))
  .def("set_timed_trigger_input",
- &SchmittTriggerDetector::setTimedTriggerInput,
+ py::overload_cast<const std::string&, const SchmittTriggerInput&>(
+ &SchmittTriggerDetector::setTimedTriggerInput),
  py::arg("contact_name"),
- py::arg("time"),
- py::arg("trigger_input"))
+ py::arg("input"))
  .def("set_timed_trigger_inputs",
- &SchmittTriggerDetector::setTimedTriggerInputs,
+ py::overload_cast<const std::unordered_map<std::string, //
+ Math::SchmittTriggerInput>&>(
+ &SchmittTriggerDetector::setTimedTriggerInputs),
  py::arg("timed_inputs"))
  .def("add_contact",
- py::overload_cast<const std::string&, const bool&, const SchmittTriggerParams&>(
- &SchmittTriggerDetector::addContact),
+ &SchmittTriggerDetector::addContact,
  py::arg("contact_name"),
  py::arg("initial_state"),
  py::arg("params"))
- .def("add_contact",
- py::overload_cast<const std::string&,
- const bool&,
- const SchmittTriggerParams&,
- const double&>(&SchmittTriggerDetector::addContact),
- py::arg("contact_name"),
- py::arg("initial_state"),
- py::arg("params"),
- py::arg("time_now"))
  .def("reset_state",
  &SchmittTriggerDetector::resetState,
  py::arg("contact_name"),
@@ -126,15 +79,14 @@ void CreateFixedFootDetector(pybind11::module& module)
 {
  namespace py = ::pybind11;
  using namespace BipedalLocomotion::Contacts;
- using namespace BipedalLocomotion::System;
- using namespace BipedalLocomotion::ParametersHandler;
 
  py::class_<FixedFootDetector, ContactDetector>(module, "FixedFootDetector")
  .def(py::init())
  .def("get_fixed_foot", &FixedFootDetector::getFixedFoot)
  .def("set_contact_phase_list",
  &FixedFootDetector::setContactPhaseList,
- py::arg("phase_list"));
+ py::arg("phase_list"))
+ .def("reset_time", &FixedFootDetector::resetTime, py::arg("time"));
 }
 
 } // namespace Contacts

bindings/python/Contacts/src/Module.cpp

@@ -28,7 +28,6 @@ void CreateModule(pybind11::module& module)
  CreateContactListJsonParser(module);
 
  CreateContactDetector(module);
- CreateSchmittTriggerUnit(module);
  CreateSchmittTriggerDetector(module);
  CreateFixedFootDetector(module);
 }

bindings/python/Contacts/tests/test_schmitt_trigger_detector.py

@@ -22,11 +22,14 @@ def test_schmitt_trigger_detector():
  assert(detector.reset_contacts())
 
  # rise signal
- assert(detector.set_timed_trigger_input("right", 0.1, 120.0))
+ assert(detector.set_timed_trigger_input("right",
+ blf.math.SchmittTriggerInput(time=0.1, raw_value=120.0)))
  assert(detector.advance())
- assert(detector.set_timed_trigger_input("right", 0.2, 120.0))
+ assert(detector.set_timed_trigger_input("right",
+ blf.math.SchmittTriggerInput(time=0.2, raw_value=120.0)))
  assert(detector.advance())
- assert(detector.set_timed_trigger_input("right", 0.3, 120.0))
+ assert(detector.set_timed_trigger_input("right",
+ blf.math.SchmittTriggerInput(time=0.3, raw_value=120.0)))
  assert(detector.advance())
 
  # contact state should turn true
@@ -35,11 +38,14 @@ def test_schmitt_trigger_detector():
  assert(right_contact.switch_time == 0.3)
 
  # fall signal
- assert(detector.set_timed_trigger_input("right", 0.4, 7.0))
+ assert(detector.set_timed_trigger_input("right",
+ blf.math.SchmittTriggerInput(time=0.4, raw_value=7.0)))
  assert(detector.advance())
- assert(detector.set_timed_trigger_input("right", 0.5, 7.0))
+ assert(detector.set_timed_trigger_input("right",
+ blf.math.SchmittTriggerInput(time=0.5, raw_value=7.0)))
  assert(detector.advance())
- assert(detector.set_timed_trigger_input("right", 0.6, 7.0))
+ assert(detector.set_timed_trigger_input("right",
+ blf.math.SchmittTriggerInput(time=0.6, raw_value=7.0)))
  assert(detector.advance())
 
  # contact state should turn false
@@ -48,23 +54,22 @@ def test_schmitt_trigger_detector():
  assert(right_contact.switch_time == 0.6)
 
  # add a new contact
- params = blf.contacts.SchmittTriggerParams()
- params.off_threshold = 10
- params.on_threshold = 100
- params.switch_off_after = 0.2
- params.switch_on_after = 0.2
- detector.add_contact("left", False, params, 0.6)
+ params = blf.math.SchmittTrigger.Params(off_threshold=10, on_threshold=100,
+ switch_off_after=0.2, switch_on_after=0.2)
+ detector.add_contact("left",
+ blf.math.SchmittTriggerState(state=False, switch_time=0.6, edge_time=0.6),
+ params)
  contacts = detector.get_output()
  assert(len(contacts) == 2)
  assert(contacts["right"].is_active == False)
 
  # test multiple measurement updates
- right_input = blf.contacts.SchmittTriggerInput()
+ right_input = blf.math.SchmittTriggerInput()
  right_input.time = 0.7
- right_input.value = 120
- left_input = blf.contacts.SchmittTriggerInput()
+ right_input.raw_value = 120
+ left_input = blf.math.SchmittTriggerInput()
  left_input.time = 0.7
- left_input.value = 120
+ left_input.raw_value = 120
  timed_inputs = {"right":right_input, "left":left_input}
  assert(detector.set_timed_trigger_inputs(timed_inputs))
 

bindings/python/Math/src/SchmittTrigger.cpp

@@ -25,13 +25,25 @@ void CreateSchmittTrigger(pybind11::module& module)
  namespace py = ::pybind11;
 
  py::class_<SchmittTriggerState>(module, "SchmittTriggerState")
- .def(py::init<>())
+ .def(py::init([](bool state, double switchTime, double edgeTime) -> SchmittTriggerState {
+ return SchmittTriggerState{.state = std::move(state),
+ .switchTime = std::move(switchTime),
+ .edgeTime = std::move(edgeTime)};
+ }),
+ py::arg("state") = false,
+ py::arg("switch_time") = 0.0,
+ py::arg("edge_time") = 0.0)
  .def_readwrite("state", &SchmittTriggerState::state)
  .def_readwrite("switch_time", &SchmittTriggerState::switchTime)
  .def_readwrite("edge_time", &SchmittTriggerState::edgeTime);
 
  py::class_<SchmittTriggerInput>(module, "SchmittTriggerInput")
- .def(py::init<>())
+ .def(py::init([](double time, double rawValue) -> SchmittTriggerInput {
+ return SchmittTriggerInput{.time = std::move(time),
+ .rawValue = std::move(rawValue)};
+ }),
+ py::arg("time") = 0.0,
+ py::arg("raw_value") = 0.0)
  .def_readwrite("time", &SchmittTriggerInput::time)
  .def_readwrite("raw_value", &SchmittTriggerInput::rawValue);
 
@@ -40,17 +52,34 @@ void CreateSchmittTrigger(pybind11::module& module)
  BipedalLocomotion::Math::SchmittTriggerState>(module, "SchmittTrigger");
 
  py::class_<SchmittTrigger,
- BipedalLocomotion::System::Advanceable<SchmittTriggerInput, //
- SchmittTriggerState>>
+ ::BipedalLocomotion::System::Advanceable<SchmittTriggerInput, //
+  SchmittTriggerState>>
  schmittTrigger(module, "SchmittTrigger");
 
  py::class_<SchmittTrigger::Params>(schmittTrigger, "Params")
- .def(py::init())
+ .def(py::init([](double onThreshold,
+ double offThreshold,
+ double switchOnAfter,
+ double switchOffAfter,
+ double timeComparisonThreshold) -> SchmittTrigger::Params {
+ return SchmittTrigger::Params{.onThreshold = std::move(onThreshold),
+ .offThreshold = std::move(offThreshold),
+ .switchOnAfter = std::move(switchOnAfter),
+ .switchOffAfter = std::move(switchOffAfter),
+ .timeComparisonThreshold
+ = std::move(timeComparisonThreshold)};
+ }),
+ py::arg("on_threshold") = 0.0,
+ py::arg("off_threshold") = 0.0,
+ py::arg("switch_on_after") = 0.0,
+ py::arg("switch_off_after") = 0.0,
+ py::arg("time_comparison_threshold") = std::numeric_limits<double>::epsilon())
  .def_readwrite("on_threshold", &SchmittTrigger::Params::onThreshold)
  .def_readwrite("off_threshold", &SchmittTrigger::Params::offThreshold)
  .def_readwrite("switch_on_after", &SchmittTrigger::Params::switchOnAfter)
  .def_readwrite("switch_off_after", &SchmittTrigger::Params::switchOffAfter)
- .def_readwrite("time_comparison_threshold", &SchmittTrigger::Params::timeComparisonThreshold);
+ .def_readwrite("time_comparison_threshold",
+ &SchmittTrigger::Params::timeComparisonThreshold);
 
  schmittTrigger.def(py::init())
  .def("set_state", &SchmittTrigger::setState, py::arg("state"))