PyKDL: PyBind11 based #229

MatthijsBurgh · 2020-03-29T09:57:59Z

This PR includes the following:

PyKDL based on PyBind11, which is an option, BUILD_PYKDL_PYBIND11. So SIP is still there, but PyBind11 is the default. PyBind11 is included as submodule.
Improvements on PyKDL based on SIP
- Moved std::vector support to separate file.
- Fixed custom methodcode which contained a return. Which isn't allowed in SIP. Mostly __getitem__ and __setitem__ functions.
- Added some extra constructors, __repr__ and equality operators.
Improvements on kdl, which were needed to fix issues in PyKDL.
Extending the PyKDL tests. Mostly on the Frames and FrameVel classes. (Still a lot to gain)
Cleanup of kdl cmake. Contained some duplicate and unneeded code.
Python 3 support. Both for PyBind11 as SIP. I have chose to include the Fixed in c++ as well and replace all uses of None by Fixed. None is still there and points to Fixed, so any usage of None still works. For SIP I have used the changes of Fix/python3 joint none #137, but with a slight difference, python 3 as the new default.

Resolves #219
Fixes #227, fixes #230

This prevents docstrings like: __init__(self: PyKDL.Segment, name: unicode, joint: PyKDL.Joint = NoName:[None, axis: [ 0, 0, 0], origin[ 0, 0, 0]], f_tip: PyKDL.Frame = [[ 1, 0, 0; 0, 1, 0; 0, 0, 1] [ 0, 0, 0]], I: PyKDL.RigidBodyInertia = <PyKDL.RigidBodyInertia object at 0x7f78c1d9fc38>) -> None Instead the docstring looks like: __init__(self: PyKDL.Segment, name: unicode, joint: PyKDL.Joint = Joint(), f_tip: PyKDL.Frame = Frame.Identity(), I: PyKDL.RigidBodyInertia = RigidBodyInertia.Zero()) -> None

…les changed

…nctions This prevents any cpp scoping in docstrings

This reverts commit 3c9f22d.

This reverts commit 9968bcb.

MatthijsBurgh · 2020-04-30T08:17:51Z

@meyerj @smits your input would be really helpful. @jf--- and @zchen24 already did some reviewing.

As @jf--- mentioned it might be good to add an extra maintainer. I am interested in it.

smits · 2020-05-04T07:19:10Z

@MatthijsBurgh , thanks a lot for all you effort. I'll add you as an extra maintainer so you can move on with merging and releasing your stuff. Both me and @meyerj are quite busy with other stuff, so adding a maintainer makes total sense to me.

smits

If this entire PR gets merged as is we'll break the API due to the Joint::None --> Joint::Fixed change, this means we effectively need to create a new major number release since we are following the semantic versioning here, which seems a pitty for such a minor API breaking change. I'm not sure this is worth it. All other changes LGTM . Also if we want to release for ROS all of this can only go into the next ROS release and we cannot rerelease in any exisiting ROS distro.

.travis.yml

smits · 2020-05-04T07:28:55Z

orocos_kdl/src/framevel.inl

@@ -317,7 +352,7 @@ void VectorVel::ReverseSign() {
 }
 doubleVel VectorVel::Norm() const {
    double n = p.Norm();
-    return doubleVel(n,dot(p,v)/n);
+    return doubleVel(n,n ? dot(p,v)/n : 0); // Setting norm of p to 0 in case norm of v is 0


Comparing against exactly zero here, it might help to compare against eps if you want to prevent Inf, but in that case you might want to set n to zero as well?

Will look into this.

@smits please check a6fbd38 and 9ec544e for my fix. The default argument has also been added to PyKDL.
Do you think this is the correct way?

MatthijsBurgh · 2020-05-04T07:58:35Z

@smits The API is not broken, as None still available in kdl,

orocos_kinematics_dynamics/orocos_kdl/src/joint.hpp

Line 47 in f23632f

    
           typedef enum { RotAxis,RotX,RotY,RotZ,TransAxis,TransX,TransY,TransZ,Fixed,None=Fixed} JointType;

I just made Fixed the new "default" to get rid of the legacy in the future.
Also None is still available in the python 2 API of PyKDL. So only in python 3 is not available, but that has not been released yet. So nothing to break yet.

smits · 2020-05-04T08:47:01Z

@MatthijsBurgh , I missed that part 👍 . In that case I think this is in really good shape.

eps is used to determine when to set norm to zero

zchen24 · 2020-05-06T21:02:53Z

@MatthijsBurgh Congrats for pushing this through.

MatthijsBurgh · 2020-05-06T21:17:21Z

@zchen24 It started with your work, which was a good starting point.

jf--- · 2020-05-07T08:35:59Z

Congrats @MatthijsBurgh & wonderful to see the team of maintainers expanded!

PyKDL: PyBind11 based

zchen24 and others added 30 commits March 14, 2020 10:15

Added pybind11 KDL binding

dbe38c9

Working CMake with PyBind11

d6ef153

Test PyBind11 in travis

aae2a17

Added pickle support for frames and framevel

4c4193e

Use install(TARGETS) for PyBind

ebacacb

(travis) specify os and dist

2d75ad0

Move pybind11 and sip into seperate folders

c9249d4

Depend on all SIP includes, to trigger a rebuild if any of the sip fi…

09acd10

…les changed

Whitespace fixes in SIP files

c5c7a61

Use PyBind11 by default

f9c1822

Remove double line

1f0e3e0

remove bracket from default value descriptions

931b4e2

Add pybind11 stl container support

8b42269

Remove get(Root)Segment of Tree from PyKDL

ce174ed

(PyKDL) use classnames in declerations

a0497c7

Move declerations so class is defined before used by other classes/fu…

77f6ecf

…nctions This prevents any cpp scoping in docstrings

remove unneeded uint cast in frame __getitem__

8ed2b21

Add pybind11 eigen support

27d92f7

Add __setitem__ to jnt_space_inertia_matrix

d4095f0

fix __getitem__ of rotation

9d58638

Add __setitem__ to rotation

194c762

(PyKDL) remove manifest.xml

2c7b633

(PyKDL) remove mainpage.dox

9d7b663

(PyKDL) Add properties to Vector

65b1d8f

(PyKDL) add comment to use properties in Vector

c222077

(PyKDL) style update test

4b5f8e1

(PyKDL) Update tests

00b8717

Revert "(PyKDL) add comment to use properties in Vector"

b0217ad

This reverts commit 3c9f22d.

Revert "(PyKDL) Add properties to Vector"

8b60991

This reverts commit 9968bcb.

MatthijsBurgh added 2 commits April 18, 2020 12:04

(PyKDL) update doc information

fa7ca15

(kdl) add doc_depend

60370c8

This was referenced Apr 18, 2020

Fix/python3 joint none #137

Closed

Build Error during make #227

Closed

PyKDL: __version__ method missing #43

Closed

(PyKDL)(sip) add __version__

f23632f

smits reviewed May 4, 2020

View reviewed changes

smits approved these changes May 4, 2020

View reviewed changes

MatthijsBurgh added 3 commits May 4, 2020 23:29

(kdl) add eps argument to Norm functions

a6fbd38

eps is used to determine when to set norm to zero

(PyKDL) add eps argument to norm functions

1470003

(PyKDL)(sip) add eps argument to norm functions

3be9580

MatthijsBurgh mentioned this pull request May 4, 2020

Python_orocos_kdl: python API docs do not seem to be building #49

Open

(kdl) normalize returns 0 if norm < eps fixes #65

818f669

This was referenced May 4, 2020

ImportError: dynamic module does not define module export function (PyInit_PyKDL) #96

Closed

When in the orocos_kinematics_dynamics/python_orocos_kdl/build to execute the command "make" #203

Closed

MatthijsBurgh added 2 commits May 5, 2020 00:29

(PyKDL) cmake: add depracation warning

0804437

(kdl) improve norm of VectorVel

9ec544e

MatthijsBurgh merged commit 57736e2 into orocos:master May 6, 2020

otamachan mentioned this pull request Jul 2, 2020

"No matching distribution found for sip<5.0.0 (from PyKDL->tf2_geometry_msgs)" rospypi/simple#19

Closed

MatthijsBurgh deleted the pybind11 branch August 21, 2020 07:18

spd-intermodalics pushed a commit to spd-intermodalics/orocos_kinematics_dynamics that referenced this pull request Feb 4, 2022

Merge pull request orocos#229 from MatthijsBurgh/pybind11

64d6d9c

PyKDL: PyBind11 based

spd-intermodalics mentioned this pull request Feb 4, 2022

Release 1.4.1 rc1 #381

Draft

traversaro mentioned this pull request Nov 21, 2022

Rebuild for PyPy3.8 and PyPy3.9 conda-forge/orocos-kdl-feedstock#22

Merged

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PyKDL: PyBind11 based #229

PyKDL: PyBind11 based #229

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PyKDL: PyBind11 based #229

PyKDL: PyBind11 based #229

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