Fixing conflicts

Author: Murilo Marinho

CMakeLists.txt

@@ -1,5 +1,4 @@
 cmake_minimum_required(VERSION 2.8)
-#set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 
 project(dqroboticspython)
 
@@ -9,9 +8,10 @@ add_definitions(-DMAX_EXT_API_CONNECTIONS=255)
 add_definitions(-DDO_NOT_USE_SHARED_MEMORY)
 
 if(APPLE)
+        message("Building not supported on this platform.")
         include_directories(
         /usr/local/include/
-	/usr/local/include/eigen3
+        /usr/local/include/eigen3
         )
 endif()
 
@@ -46,6 +46,8 @@ if(UNIX)
         src/robot_modeling/DQ_Kinematics_py.cpp
         cpp/src/robot_modeling/DQ_SerialManipulator.cpp
         src/robot_modeling/DQ_SerialManipulator_py.cpp
+        cpp/src/robot_modeling/DQ_SerialManipulatorDH.cpp
+        src/robot_modeling/DQ_SerialManipulatorDH_py.cpp
         cpp/src/robot_modeling/DQ_MobileBase.cpp
         src/robot_modeling/DQ_MobileBase_py.cpp
         cpp/src/robot_modeling/DQ_HolonomicBase.cpp
@@ -54,6 +56,8 @@ if(UNIX)
         src/robot_modeling/DQ_DifferentialDriveRobot_py.cpp
         cpp/src/robot_modeling/DQ_WholeBody.cpp
         src/robot_modeling/DQ_WholeBody_py.cpp
+        cpp/src/robot_modeling/DQ_SerialWholeBody.cpp
+        src/robot_modeling/DQ_SerialWholeBody_py.cpp
 
         #robot_control
         cpp/src/robot_control/DQ_KinematicController.cpp
@@ -97,10 +101,6 @@ if(UNIX)
         )
 endif()
 
-if(APPLE)
-    message("Building not supported on this platform.")
-endif()
-
 if(WIN32)
     message("Building not supported on this platform.")
 endif()

cpp

@@ -75,6 +75,9 @@ PYBIND11_MODULE(_dqrobotics, m) {
     //DQ_SerialManipulator
     init_DQ_SerialManipulator_py(robot_modeling);
 
+    //DQ_SerialManipulatorDH
+    init_DQ_SerialManipulatorDH_py(robot_modeling);
+
     //DQ_CooperativeDualTaskSpace
     init_DQ_CooperativeDualTaskSpace_py(robot_modeling);
 
@@ -90,6 +93,9 @@ PYBIND11_MODULE(_dqrobotics, m) {
     //DQ_WholeBody
     init_DQ_WholeBody_py(robot_modeling);
 
+    //DQ_SerialWholeBody
+    init_DQ_SerialWholeBody_py(robot_modeling);
+
     /*****************************************************
      *  Solvers <dqrobotics/solvers/...>
      * **************************************************/

src/dqrobotics_module.cpp

@@ -37,10 +37,12 @@ namespace py = pybind11;
 #include <dqrobotics/robot_modeling/DQ_CooperativeDualTaskSpace.h>
 #include <dqrobotics/robot_modeling/DQ_Kinematics.h>
 #include <dqrobotics/robot_modeling/DQ_SerialManipulator.h>
+#include <dqrobotics/robot_modeling/DQ_SerialManipulatorDH.h>
 #include <dqrobotics/robot_modeling/DQ_MobileBase.h>
 #include <dqrobotics/robot_modeling/DQ_HolonomicBase.h>
 #include <dqrobotics/robot_modeling/DQ_DifferentialDriveRobot.h>
 #include <dqrobotics/robot_modeling/DQ_WholeBody.h>
+#include <dqrobotics/robot_modeling/DQ_SerialWholeBody.h>
 
 #include <dqrobotics/robot_control/DQ_KinematicController.h>
 #include <dqrobotics/robot_control/DQ_KinematicConstrainedController.h>
@@ -76,11 +78,13 @@ void init_DQ_Geometry_py(py::module& m);
 //dqrobotics/robot_modeling
 void init_DQ_Kinematics_py(py::module& m);
 void init_DQ_SerialManipulator_py(py::module& m);
+void init_DQ_SerialManipulatorDH_py(py::module& m);
 void init_DQ_MobileBase_py(py::module& m);
 void init_DQ_HolonomicBase_py(py::module& m);
 void init_DQ_DifferentialDriveRobot_py(py::module& m);
 void init_DQ_CooperativeDualTaskSpace_py(py::module& m);
 void init_DQ_WholeBody_py(py::module& m);
+void init_DQ_SerialWholeBody_py(py::module& m);
 
 //dqrobotics/robot_control
 void init_DQ_ClassicQPController_py(py::module& m);

src/dqrobotics_module.h

@@ -30,5 +30,6 @@ void init_DQ_DifferentialDriveRobot_py(py::module& m)
     py::class_<DQ_DifferentialDriveRobot,DQ_HolonomicBase> dqdifferentialdriverobot_py(m,"DQ_DifferentialDriveRobot");
     dqdifferentialdriverobot_py.def(py::init<const double&, const double&>());
     dqdifferentialdriverobot_py.def("constraint_jacobian", &DQ_DifferentialDriveRobot::constraint_jacobian, "Returns the constraint Jacobian");
-    dqdifferentialdriverobot_py.def("pose_jacobian",       &DQ_DifferentialDriveRobot::pose_jacobian,       "Returns the pose Jacobian");
+    dqdifferentialdriverobot_py.def("pose_jacobian",               (MatrixXd (DQ_DifferentialDriveRobot::*)(const VectorXd&, const int&) const)&DQ_DifferentialDriveRobot::pose_jacobian,"Returns the pose Jacobian");
+    dqdifferentialdriverobot_py.def("pose_jacobian",               (MatrixXd (DQ_DifferentialDriveRobot::*)(const VectorXd&) const)&DQ_DifferentialDriveRobot::pose_jacobian,"Returns the pose Jacobian");
 }

src/robot_modeling/DQ_DifferentialDriveRobot_py.cpp

@@ -29,8 +29,10 @@ void init_DQ_HolonomicBase_py(py::module& m)
      * **************************************************/
     py::class_<DQ_HolonomicBase,DQ_MobileBase> dqholonomicbase_py(m,"DQ_HolonomicBase");
     dqholonomicbase_py.def(py::init());
-    dqholonomicbase_py.def("fkm",                        &DQ_HolonomicBase::fkm,"Returns the base's fkm");
-    dqholonomicbase_py.def("pose_jacobian",              &DQ_HolonomicBase::pose_jacobian,"Returns the base's Jacobian");
+    dqholonomicbase_py.def("fkm",(DQ (DQ_HolonomicBase::*)(const VectorXd&) const)&DQ_HolonomicBase::fkm,"Gets the fkm.");
+    dqholonomicbase_py.def("fkm",(DQ (DQ_HolonomicBase::*)(const VectorXd&,const int&) const)&DQ_HolonomicBase::fkm,"Gets the fkm.");
+    dqholonomicbase_py.def("pose_jacobian",               (MatrixXd (DQ_HolonomicBase::*)(const VectorXd&, const int&) const)&DQ_HolonomicBase::pose_jacobian,"Returns the pose Jacobian");
+    dqholonomicbase_py.def("pose_jacobian",               (MatrixXd (DQ_HolonomicBase::*)(const VectorXd&) const)&DQ_HolonomicBase::pose_jacobian,"Returns the pose Jacobian");
     dqholonomicbase_py.def("get_dim_configuration_space",&DQ_HolonomicBase::get_dim_configuration_space,"Returns the size of the configuration space");
     dqholonomicbase_py.def("raw_fkm",                    &DQ_HolonomicBase::raw_fkm,"Returns the raw fkm");
     dqholonomicbase_py.def("raw_pose_jacobian",          &DQ_HolonomicBase::raw_pose_jacobian,"Return the raw ose Jacobian");

src/robot_modeling/DQ_HolonomicBase_py.cpp

@@ -0,0 +1,39 @@
+/**
+(C) Copyright 2020 DQ Robotics Developers
+
+This file is part of DQ Robotics.
+
+    DQ Robotics is free software: you can redistribute it and/or modify
+    it under the terms of the GNU Lesser General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    DQ Robotics is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU Lesser General Public License for more details.
+
+    You should have received a copy of the GNU Lesser General Public License
+    along with DQ Robotics.  If not, see <http://www.gnu.org/licenses/>.
+
+Contributors:
+- Murilo M. Marinho ([email protected])
+*/
+
+#include "../dqrobotics_module.h"
+
+void init_DQ_SerialManipulatorDH_py(py::module& m)
+{
+    /***************************************************
+    *  DQ SerialManipulatorDH
+    * **************************************************/
+    py::class_<DQ_SerialManipulatorDH,DQ_SerialManipulator> dqserialmanipulatordh_py(m, "DQ_SerialManipulatorDH");
+    dqserialmanipulatordh_py.def(py::init<MatrixXd, std::string>());
+
+    //dqserialmanipulatordh_py.def("type",                        &DQ_SerialManipulatorDH::type,"Retrieves the vector of types.");
+    //dqserialmanipulatordh_py.def("raw_pose_jacobian",           (MatrixXd (DQ_SerialManipulatorDH::*)(const VectorXd&, const int&) const)&DQ_SerialManipulatorDH::raw_pose_jacobian,"Returns the pose Jacobian without base or effector transformation");
+    //dqserialmanipulatordh_py.def("pose_jacobian",               (MatrixXd (DQ_SerialManipulatorDH::*)(const VectorXd&, const int&) const)&DQ_SerialManipulatorDH::pose_jacobian,"Returns the pose Jacobian");
+    //dqserialmanipulatordh_py.def("pose_jacobian",               (MatrixXd (DQ_SerialManipulatorDH::*)(const VectorXd&) const)&DQ_SerialManipulatorDH::pose_jacobian,"Returns the pose Jacobian");
+    //dqserialmanipulatordh_py.def("fkm",                         (DQ (DQ_SerialManipulatorDH::*)(const VectorXd&) const)&DQ_SerialManipulatorDH::fkm,"Gets the fkm.");
+    //dqserialmanipulatordh_py.def("get_dim_configuration_space", &DQ_SerialManipulatorDH::get_dim_configuration_space,"Retrieves the number of links.");
+}