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Guilhem Saurel
eigenpy
Commits
e3087e90
Unverified
Commit
e3087e90
authored
5 years ago
by
Justin Carpentier
Committed by
GitHub
5 years ago
Browse files
Options
Downloads
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Merge pull request #135 from jcarpent/topic/devel
Fix Python documentation
parents
a5268cc2
16b36852
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2
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2 changed files
include/eigenpy/angle-axis.hpp
+20
-12
20 additions, 12 deletions
include/eigenpy/angle-axis.hpp
include/eigenpy/quaternion.hpp
+57
-26
57 additions, 26 deletions
include/eigenpy/quaternion.hpp
with
77 additions
and
38 deletions
include/eigenpy/angle-axis.hpp
+
20
−
12
View file @
e3087e90
...
@@ -8,7 +8,6 @@
...
@@ -8,7 +8,6 @@
#include
"eigenpy/fwd.hpp"
#include
"eigenpy/fwd.hpp"
#include
<boost/python.hpp>
#include
<Eigen/Core>
#include
<Eigen/Core>
#include
<Eigen/Geometry>
#include
<Eigen/Geometry>
...
@@ -54,15 +53,15 @@ namespace eigenpy
...
@@ -54,15 +53,15 @@ namespace eigenpy
void
visit
(
PyClass
&
cl
)
const
void
visit
(
PyClass
&
cl
)
const
{
{
cl
cl
.
def
(
bp
::
init
<>
(
"Default constructor"
))
.
def
(
bp
::
init
<>
(
bp
::
arg
(
"self"
),
"Default constructor"
))
.
def
(
bp
::
init
<
Scalar
,
Vector3
>
.
def
(
bp
::
init
<
Scalar
,
Vector3
>
((
bp
::
arg
(
"angle"
),
bp
::
arg
(
"axis"
)),
((
bp
::
arg
(
"
self"
),
bp
::
arg
(
"
angle"
),
bp
::
arg
(
"axis"
)),
"Initialize from angle and axis."
))
"Initialize from angle and axis."
))
.
def
(
bp
::
init
<
Matrix3
>
.
def
(
bp
::
init
<
Matrix3
>
((
bp
::
arg
(
"rotation
M
atrix"
)),
((
bp
::
arg
(
"
self"
),
bp
::
arg
(
"
rotation
m
atrix"
)),
"Initialize from a rotation matrix"
))
"Initialize from a rotation matrix"
))
.
def
(
bp
::
init
<
Quaternion
>
(
bp
::
arg
(
"quaternion"
),
"Initialize from a quaternion."
))
.
def
(
bp
::
init
<
Quaternion
>
(
(
bp
::
arg
(
"self"
),
bp
::
arg
(
"quaternion"
)
)
,
"Initialize from a quaternion."
))
.
def
(
bp
::
init
<
AngleAxis
>
(
bp
::
arg
(
"copy"
),
"Copy constructor."
))
.
def
(
bp
::
init
<
AngleAxis
>
(
(
bp
::
arg
(
"self"
),
bp
::
arg
(
"copy"
)
)
,
"Copy constructor."
))
/* --- Properties --- */
/* --- Properties --- */
.
add_property
(
"axis"
,
.
add_property
(
"axis"
,
...
@@ -74,15 +73,24 @@ namespace eigenpy
...
@@ -74,15 +73,24 @@ namespace eigenpy
&
AngleAxisVisitor
::
setAngle
,
"The rotation angle."
)
&
AngleAxisVisitor
::
setAngle
,
"The rotation angle."
)
/* --- Methods --- */
/* --- Methods --- */
.
def
(
"inverse"
,
&
AngleAxis
::
inverse
,
"Return the inverse rotation."
)
.
def
(
"inverse"
,
&
AngleAxis
::
inverse
,
bp
::
arg
(
"self"
),
"Return the inverse rotation."
)
.
def
(
"fromRotationMatrix"
,
&
AngleAxis
::
template
fromRotationMatrix
<
Matrix3
>,
.
def
(
"fromRotationMatrix"
,
&
AngleAxis
::
template
fromRotationMatrix
<
Matrix3
>,
bp
::
arg
(
"Sets *this from a 3x3 rotation matrix."
),
bp
::
return_self
<>
())
(
bp
::
arg
(
"self"
),
bp
::
arg
(
"rotation matrix"
)),
.
def
(
"toRotationMatrix"
,
&
AngleAxis
::
toRotationMatrix
,
"Constructs and returns an equivalent 3x3 rotation matrix."
)
"Sets *this from a 3x3 rotation matrix"
,
.
def
(
"matrix"
,
&
AngleAxis
::
matrix
,
"Returns an equivalent rotation matrix."
)
bp
::
return_self
<>
())
.
def
(
"toRotationMatrix"
,
// bp::arg("self"),
&
AngleAxis
::
toRotationMatrix
,
"Constructs and returns an equivalent 3x3 rotation matrix."
)
.
def
(
"matrix"
,
&
AngleAxis
::
matrix
,
bp
::
arg
(
"self"
),
"Returns an equivalent rotation matrix."
)
.
def
(
"isApprox"
,
.
def
(
"isApprox"
,
&
call
<
AngleAxis
>::
isApprox
,
&
call
<
AngleAxis
>::
isApprox
,
isApproxAngleAxis_overload
(
bp
::
args
(
"other"
,
"prec"
),
isApproxAngleAxis_overload
(
bp
::
args
(
"
self"
,
"
other"
,
"prec"
),
"Returns true if *this is approximately equal to other, within the precision determined by prec."
))
"Returns true if *this is approximately equal to other, within the precision determined by prec."
))
/* --- Operators --- */
/* --- Operators --- */
...
@@ -125,7 +133,7 @@ namespace eigenpy
...
@@ -125,7 +133,7 @@ namespace eigenpy
static
void
expose
()
static
void
expose
()
{
{
bp
::
class_
<
AngleAxis
>
(
"AngleAxis"
,
bp
::
class_
<
AngleAxis
>
(
"AngleAxis"
,
"AngleAxis representation of rotation
s
.
\n\n
"
,
"AngleAxis representation of
a
rotation.
\n\n
"
,
bp
::
no_init
)
bp
::
no_init
)
.
def
(
AngleAxisVisitor
<
AngleAxis
>
());
.
def
(
AngleAxisVisitor
<
AngleAxis
>
());
}
}
...
...
This diff is collapsed.
Click to expand it.
include/eigenpy/quaternion.hpp
+
57
−
26
View file @
e3087e90
...
@@ -12,7 +12,6 @@
...
@@ -12,7 +12,6 @@
#include
<Eigen/Geometry>
#include
<Eigen/Geometry>
#include
"eigenpy/exception.hpp"
#include
"eigenpy/exception.hpp"
#include
"eigenpy/registration.hpp"
namespace
eigenpy
namespace
eigenpy
{
{
...
@@ -69,17 +68,17 @@ namespace eigenpy
...
@@ -69,17 +68,17 @@ namespace eigenpy
void
visit
(
PyClass
&
cl
)
const
void
visit
(
PyClass
&
cl
)
const
{
{
cl
cl
.
def
(
bp
::
init
<>
(
"Default constructor"
))
.
def
(
bp
::
init
<>
(
bp
::
arg
(
"self"
),
"Default constructor"
))
.
def
(
bp
::
init
<
Vector4
>
((
bp
::
arg
(
"vec4"
)),
.
def
(
bp
::
init
<
Vector4
>
((
bp
::
arg
(
"
self"
),
bp
::
arg
(
"
vec4"
)),
"Initialize from a vector 4D.
\n
"
"Initialize from a vector 4D.
\n
"
"
\t
vec4 : a 4D vector representing quaternion coefficients in the order xyzw."
))
"
\t
vec4 : a 4D vector representing quaternion coefficients in the order xyzw."
))
.
def
(
bp
::
init
<
Matrix3
>
((
bp
::
arg
(
"R"
)),
.
def
(
bp
::
init
<
Matrix3
>
((
bp
::
arg
(
"
self"
),
bp
::
arg
(
"
R"
)),
"Initialize from rotation matrix.
\n
"
"Initialize from rotation matrix.
\n
"
"
\t
R : a rotation matrix 3x3."
))
"
\t
R : a rotation matrix 3x3."
))
.
def
(
bp
::
init
<
AngleAxis
>
((
bp
::
arg
(
"aa"
)),
.
def
(
bp
::
init
<
AngleAxis
>
((
bp
::
arg
(
"
self"
),
bp
::
arg
(
"
aa"
)),
"Initialize from an angle axis.
\n
"
"Initialize from an angle axis.
\n
"
"
\t
aa: angle axis object."
))
"
\t
aa: angle axis object."
))
.
def
(
bp
::
init
<
Quaternion
>
((
bp
::
arg
(
"quat"
)),
.
def
(
bp
::
init
<
Quaternion
>
((
bp
::
arg
(
"
self"
),
bp
::
arg
(
"
quat"
)),
"Copy constructor.
\n
"
"Copy constructor.
\n
"
"
\t
quat: a quaternion."
))
"
\t
quat: a quaternion."
))
.
def
(
"__init__"
,
bp
::
make_constructor
(
&
QuaternionVisitor
::
FromTwoVectors
,
.
def
(
"__init__"
,
bp
::
make_constructor
(
&
QuaternionVisitor
::
FromTwoVectors
,
...
@@ -87,7 +86,7 @@ namespace eigenpy
...
@@ -87,7 +86,7 @@ namespace eigenpy
(
bp
::
arg
(
"u: a 3D vector"
),
bp
::
arg
(
"v: a 3D vector"
))),
(
bp
::
arg
(
"u: a 3D vector"
),
bp
::
arg
(
"v: a 3D vector"
))),
"Initialize from two vectors u and v"
)
"Initialize from two vectors u and v"
)
.
def
(
bp
::
init
<
Scalar
,
Scalar
,
Scalar
,
Scalar
>
.
def
(
bp
::
init
<
Scalar
,
Scalar
,
Scalar
,
Scalar
>
((
bp
::
arg
(
"w"
),
bp
::
arg
(
"x"
),
bp
::
arg
(
"y"
),
bp
::
arg
(
"z"
)),
((
bp
::
arg
(
"
self"
),
bp
::
arg
(
"
w"
),
bp
::
arg
(
"x"
),
bp
::
arg
(
"y"
),
bp
::
arg
(
"z"
)),
"Initialize from coefficients.
\n\n
"
"Initialize from coefficients.
\n\n
"
"... note:: The order of coefficients is *w*, *x*, *y*, *z*. "
"... note:: The order of coefficients is *w*, *x*, *y*, *z*. "
"The [] operator numbers them differently, 0...4 for *x* *y* *z* *w*!"
))
"The [] operator numbers them differently, 0...4 for *x* *y* *z* *w*!"
))
...
@@ -107,30 +106,61 @@ namespace eigenpy
...
@@ -107,30 +106,61 @@ namespace eigenpy
.
def
(
"isApprox"
,
.
def
(
"isApprox"
,
&
call
<
Quaternion
>::
isApprox
,
&
call
<
Quaternion
>::
isApprox
,
isApproxQuaternion_overload
(
bp
::
args
(
"other"
,
"prec"
),
isApproxQuaternion_overload
(
bp
::
args
(
"
self"
,
"
other"
,
"prec"
),
"Returns true if *this is approximately equal to other, within the precision determined by prec."
))
"Returns true if *this is approximately equal to other, within the precision determined by prec."
))
/* --- Methods --- */
/* --- Methods --- */
.
def
(
"coeffs"
,(
const
Vector4
&
(
Quaternion
::*
)()
const
)
&
Quaternion
::
coeffs
,
.
def
(
"coeffs"
,(
const
Vector4
&
(
Quaternion
::*
)()
const
)
&
Quaternion
::
coeffs
,
bp
::
arg
(
"self"
),
"Returns a vector of the coefficients (x,y,z,w)"
,
bp
::
return_value_policy
<
bp
::
copy_const_reference
>
())
bp
::
return_value_policy
<
bp
::
copy_const_reference
>
())
.
def
(
"matrix"
,
&
Quaternion
::
matrix
,
"Returns an equivalent 3x3 rotation matrix. Similar to toRotationMatrix."
)
.
def
(
"matrix"
,
&
Quaternion
::
matrix
,
.
def
(
"toRotationMatrix"
,
&
Quaternion
::
toRotationMatrix
,
"Returns an equivalent 3x3 rotation matrix."
)
bp
::
arg
(
"self"
),
"Returns an equivalent 3x3 rotation matrix. Similar to toRotationMatrix."
)
.
def
(
"toRotationMatrix"
,
&
Quaternion
::
toRotationMatrix
,
// bp::arg("self"), // Bug in Boost.Python
"Returns an equivalent 3x3 rotation matrix."
)
.
def
(
"setFromTwoVectors"
,
&
setFromTwoVectors
,((
bp
::
arg
(
"a"
),
bp
::
arg
(
"b"
))),
"Set *this to be the quaternion which transforms a into b through a rotation."
.
def
(
"setFromTwoVectors"
,
&
setFromTwoVectors
,((
bp
::
arg
(
"self"
),
bp
::
arg
(
"a"
),
bp
::
arg
(
"b"
))),
"Set *this to be the quaternion which transforms a into b through a rotation."
,
bp
::
return_self
<>
())
,
bp
::
return_self
<>
())
.
def
(
"conjugate"
,
&
Quaternion
::
conjugate
,
"Returns the conjugated quaternion. The conjugate of a quaternion represents the opposite rotation."
)
.
def
(
"conjugate"
,
&
Quaternion
::
conjugate
,
.
def
(
"inverse"
,
&
Quaternion
::
inverse
,
"Returns the quaternion describing the inverse rotation."
)
bp
::
arg
(
"self"
),
.
def
(
"setIdentity"
,
&
Quaternion
::
setIdentity
,
bp
::
return_self
<>
(),
"Set *this to the idendity rotation."
)
"Returns the conjugated quaternion.
\n
"
.
def
(
"norm"
,
&
Quaternion
::
norm
,
"Returns the norm of the quaternion's coefficients."
)
"The conjugate of a quaternion represents the opposite rotation."
)
.
def
(
"normalize"
,
&
Quaternion
::
normalize
,
"Normalizes the quaternion *this."
)
.
def
(
"inverse"
,
&
Quaternion
::
inverse
,
.
def
(
"normalized"
,
&
Quaternion
::
normalized
,
"Returns a normalized copy of *this."
)
bp
::
arg
(
"self"
),
.
def
(
"squaredNorm"
,
&
Quaternion
::
squaredNorm
,
"Returns the squared norm of the quaternion's coefficients."
)
"Returns the quaternion describing the inverse rotation."
)
.
def
(
"dot"
,
&
Quaternion
::
template
dot
<
Quaternion
>,
bp
::
arg
(
"other"
),
"Returns the dot product of *this with other"
.
def
(
"setIdentity"
,
&
Quaternion
::
setIdentity
,
bp
::
arg
(
"self"
),
"Set *this to the idendity rotation."
,
bp
::
return_self
<>
())
.
def
(
"norm"
,
&
Quaternion
::
norm
,
bp
::
arg
(
"self"
),
"Returns the norm of the quaternion's coefficients."
)
.
def
(
"normalize"
,
&
Quaternion
::
normalize
,
bp
::
arg
(
"self"
),
"Normalizes the quaternion *this."
)
.
def
(
"normalized"
,
&
Quaternion
::
normalized
,
bp
::
arg
(
"self"
),
"Returns a normalized copy of *this."
)
.
def
(
"squaredNorm"
,
&
Quaternion
::
squaredNorm
,
bp
::
arg
(
"self"
),
"Returns the squared norm of the quaternion's coefficients."
)
.
def
(
"dot"
,
&
Quaternion
::
template
dot
<
Quaternion
>,
(
bp
::
arg
(
"self"
),
bp
::
arg
(
"other"
)),
"Returns the dot product of *this with an other Quaternion.
\n
"
"Geometrically speaking, the dot product of two unit quaternions corresponds to the cosine of half the angle between the two rotations."
)
"Geometrically speaking, the dot product of two unit quaternions corresponds to the cosine of half the angle between the two rotations."
)
.
def
(
"_transformVector"
,
&
Quaternion
::
_transformVector
,
bp
::
arg
(
"vector"
),
"Rotation of a vector by a quaternion."
)
.
def
(
"_transformVector"
,
&
Quaternion
::
_transformVector
,
.
def
(
"vec"
,
&
vec
,
"Returns a vector expression of the imaginary part (x,y,z)."
)
(
bp
::
arg
(
"self"
),
bp
::
arg
(
"vector"
)),
.
def
(
"angularDistance"
,
&
Quaternion
::
template
angularDistance
<
Quaternion
>,
"Returns the angle (in radian) between two rotations."
)
"Rotation of a vector by a quaternion."
)
.
def
(
"slerp"
,
&
slerp
,
bp
::
args
(
"t"
,
"other"
),
.
def
(
"vec"
,
&
vec
,
bp
::
arg
(
"self"
),
"Returns a vector expression of the imaginary part (x,y,z)."
)
.
def
(
"angularDistance"
,
// (bp::arg("self"),bp::arg("other")), // Bug in Boost.Python
&
Quaternion
::
template
angularDistance
<
Quaternion
>,
"Returns the angle (in radian) between two rotations."
)
.
def
(
"slerp"
,
&
slerp
,
bp
::
args
(
"self"
,
"t"
,
"other"
),
"Returns the spherical linear interpolation between the two quaternions *this and other at the parameter t in [0;1]."
)
"Returns the spherical linear interpolation between the two quaternions *this and other at the parameter t in [0;1]."
)
/* --- Operators --- */
/* --- Operators --- */
...
@@ -144,9 +174,9 @@ namespace eigenpy
...
@@ -144,9 +174,9 @@ namespace eigenpy
.
def
(
"__setitem__"
,
&
QuaternionVisitor
::
__setitem__
)
.
def
(
"__setitem__"
,
&
QuaternionVisitor
::
__setitem__
)
.
def
(
"__getitem__"
,
&
QuaternionVisitor
::
__getitem__
)
.
def
(
"__getitem__"
,
&
QuaternionVisitor
::
__getitem__
)
.
def
(
"assign"
,
&
assign
<
Quaternion
>
,
.
def
(
"assign"
,
&
assign
<
Quaternion
>
,
bp
::
arg
(
"quat"
),
"Set *this from an quaternion quat and returns a reference to *this."
,
bp
::
return_self
<>
())
bp
::
arg
s
(
"self"
,
"quat"
),
"Set *this from an quaternion quat and returns a reference to *this."
,
bp
::
return_self
<>
())
.
def
(
"assign"
,(
Quaternion
&
(
Quaternion
::*
)(
const
AngleAxis
&
))
&
Quaternion
::
operator
=
,
.
def
(
"assign"
,(
Quaternion
&
(
Quaternion
::*
)(
const
AngleAxis
&
))
&
Quaternion
::
operator
=
,
bp
::
arg
(
"aa"
),
"Set *this from an angle-axis aa and returns a reference to *this."
,
bp
::
return_self
<>
())
bp
::
arg
s
(
"self"
,
"aa"
),
"Set *this from an angle-axis aa and returns a reference to *this."
,
bp
::
return_self
<>
())
.
def
(
"__str__"
,
&
print
)
.
def
(
"__str__"
,
&
print
)
.
def
(
"__repr__"
,
&
print
)
.
def
(
"__repr__"
,
&
print
)
...
@@ -158,7 +188,8 @@ namespace eigenpy
...
@@ -158,7 +188,8 @@ namespace eigenpy
"Returns the quaternion which transforms a into b through a rotation."
,
"Returns the quaternion which transforms a into b through a rotation."
,
bp
::
return_value_policy
<
bp
::
manage_new_object
>
())
bp
::
return_value_policy
<
bp
::
manage_new_object
>
())
.
staticmethod
(
"FromTwoVectors"
)
.
staticmethod
(
"FromTwoVectors"
)
.
def
(
"Identity"
,
&
Quaternion
::
Identity
,
"Returns a quaternion representing an identity rotation."
)
.
def
(
"Identity"
,
&
Quaternion
::
Identity
,
"Returns a quaternion representing an identity rotation."
)
.
staticmethod
(
"Identity"
)
.
staticmethod
(
"Identity"
)
;
;
}
}
...
...
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