dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

include/dart/dynamics/TranslationalJoint2D.hpp

@@ -0,0 +1,156 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_DYNAMICS_TRANSLATIONALJOINT2D_HPP_
+#define DART_DYNAMICS_TRANSLATIONALJOINT2D_HPP_
+
+#include <dart/dynamics/detail/PlanarJointAspect.hpp>
+#include <dart/dynamics/detail/TranslationalJoint2DAspect.hpp>
+
+namespace dart {
+namespace dynamics {
+
+/// TranslationalJoint2D represents a 2-dof joint, which has two orthogonal
+/// translational axes.
+///
+/// First and second coordiantes represent the translations along first and
+/// second translational axes, respectively.
+class TranslationalJoint2D : public detail::TranslationalJoint2DBase
+{
+public:
+  friend class Skeleton;
+  using PlaneType = detail::PlaneType;
+  using UniqueProperties = detail::TranslationalJoint2DUniqueProperties;
+  using Properties = detail::TranslationalJoint2DProperties;
+  using Base = detail::TranslationalJoint2DBase;
+
+  DART_BAKE_SPECIALIZED_ASPECT_IRREGULAR(Aspect, TranslationalJoint2DAspect)
+
+  TranslationalJoint2D(const TranslationalJoint2D&) = delete;
+
+  /// Destructor
+  virtual ~TranslationalJoint2D();
+
+  /// Sets the Properties of this TranslationalJoint2D
+  void setProperties(const Properties& properties);
+
+  /// Sets the Properties of this TranslationalJoint2D
+  void setProperties(const UniqueProperties& properties);
+
+  /// Sets the AspectProperties of this TranslationalJoint2D
+  void setAspectProperties(const AspectProperties& properties);
+
+  /// Returns the Properties of this TranslationalJoint2D
+  Properties getTranslationalJoint2DProperties() const;
+
+  /// Copies the Properties of another TranslationalJoint2D
+  void copy(const TranslationalJoint2D& otherJoint);
+
+  /// Copies the Properties of another TranslationalJoint2D
+  void copy(const TranslationalJoint2D* otherJoint);
+
+  /// Copies the Properties of another TranslationalJoint2D
+  TranslationalJoint2D& operator=(const TranslationalJoint2D& otherJoint);
+
+  // Documentation inherited
+  const std::string& getType() const override;
+
+  /// Returns joint type for this class
+  static const std::string& getStaticType();
+
+  // Documentation inherited
+  bool isCyclic(std::size_t index) const override;
+
+  /// Sets plane type as XY-plane
+  /// \param[in] renameDofs If true, the names of dofs in this joint will be
+  /// renmaed according to the plane type.
+  void setXYPlane(bool renameDofs = true);
+
+  /// Sets plane type as YZ-plane
+  /// \param[in] renameDofs If true, the names of dofs in this joint will be
+  /// renmaed according to the plane type.
+  void setYZPlane(bool renameDofs = true);
+
+  /// Sets plane type as ZX-plane
+  /// \param[in] renameDofs If true, the names of dofs in this joint will be
+  /// renmaed according to the plane type.
+  void setZXPlane(bool renameDofs = true);
+
+  /// Sets plane type as arbitrary plane with two orthogonal translational axes
+  /// \param[in] transAxis1 First translational axis
+  /// \param[in] transAxis2 Second translational axis
+  /// \param[in] renameDofs If true, the names of dofs in this joint will be
+  /// renmaed according to the plane type.
+  void setArbitraryPlane(
+      const Eigen::Vector3d& transAxis1,
+      const Eigen::Vector3d& transAxis2,
+      bool renameDofs = true);
+
+  /// Returns plane type
+  PlaneType getPlaneType() const;
+
+  /// Returns first translational axis
+  Eigen::Vector3d getTranslationalAxis1() const;
+
+  /// Returns second translational axis
+  Eigen::Vector3d getTranslationalAxis2() const;
+
+  // Documentation inherited
+  Eigen::Matrix<double, 6, 2> getRelativeJacobianStatic(
+      const Eigen::Vector2d& positions) const override;
+
+protected:
+  /// Constructor called by Skeleton class
+  explicit TranslationalJoint2D(const Properties& properties);
+
+  // Documentation inherited
+  Joint* clone() const override;
+
+  using GenericJoint<math::R2Space>::getRelativeJacobianStatic;
+
+  // Documentation inherited
+  void updateDegreeOfFreedomNames() override;
+
+  // Documentation inherited
+  void updateRelativeTransform() const override;
+
+  // Documentation inherited
+  void updateRelativeJacobian(bool mandatory = true) const override;
+
+  // Documentation inherited
+  void updateRelativeJacobianTimeDeriv() const override;
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_TRANSLATIONALJOINT2D_HPP_

include/dart/dynamics/UniversalJoint.hpp

@@ -0,0 +1,128 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_DYNAMICS_UNIVERSALJOINT_HPP_
+#define DART_DYNAMICS_UNIVERSALJOINT_HPP_
+
+#include <dart/dynamics/detail/UniversalJointAspect.hpp>
+
+namespace dart {
+namespace dynamics {
+
+/// class UniversalJoint
+class UniversalJoint : public detail::UniversalJointBase
+{
+public:
+  friend class Skeleton;
+  using UniqueProperties = detail::UniversalJointUniqueProperties;
+  using Properties = detail::UniversalJointProperties;
+  using Base = detail::UniversalJointBase;
+
+  DART_BAKE_SPECIALIZED_ASPECT_IRREGULAR(Aspect, UniversalJointAspect)
+
+  UniversalJoint(const UniversalJoint&) = delete;
+
+  /// Destructor
+  virtual ~UniversalJoint();
+
+  /// Set the Properties of this UniversalJoint
+  void setProperties(const Properties& _properties);
+
+  /// Set the Properties of this UniversalJoint
+  void setProperties(const UniqueProperties& _properties);
+
+  /// Set the AspectProperties of this UniversalJoint
+  void setAspectProperties(const AspectProperties& properties);
+
+  /// Get the Properties of this UniversalJoint
+  Properties getUniversalJointProperties() const;
+
+  /// Copy the Properties of another UniversalJoint
+  void copy(const UniversalJoint& _otherJoint);
+
+  /// Copy the Properties of another UniversalJoint
+  void copy(const UniversalJoint* _otherJoint);
+
+  /// Copy the Properties of another UniversalJoint
+  UniversalJoint& operator=(const UniversalJoint& _otherJoint);
+
+  // Documentation inherited
+  const std::string& getType() const override;
+
+  /// Get joint type for this class
+  static const std::string& getStaticType();
+
+  // Documentation inherited
+  bool isCyclic(std::size_t _index) const override;
+
+  ///
+  void setAxis1(const Eigen::Vector3d& _axis);
+
+  ///
+  void setAxis2(const Eigen::Vector3d& _axis);
+
+  ///
+  const Eigen::Vector3d& getAxis1() const;
+
+  ///
+  const Eigen::Vector3d& getAxis2() const;
+
+  // Documentation inherited
+  Eigen::Matrix<double, 6, 2> getRelativeJacobianStatic(
+      const Eigen::Vector2d& _positions) const override;
+
+protected:
+  /// Constructor called by Skeleton class
+  UniversalJoint(const Properties& properties);
+
+  // Documentation inherited
+  Joint* clone() const override;
+
+  using GenericJoint<math::R2Space>::getRelativeJacobianStatic;
+
+  // Documentation inherited
+  void updateDegreeOfFreedomNames() override;
+
+  // Documentation inherited
+  void updateRelativeTransform() const override;
+
+  // Documentation inherited
+  void updateRelativeJacobian(bool = true) const override;
+
+  // Documentation inherited
+  void updateRelativeJacobianTimeDeriv() const override;
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_UNIVERSALJOINT_HPP_

include/dart/dynamics/VoxelGridShape.hpp

@@ -0,0 +1,171 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_DYNAMICS_VOXELGRIDSHAPE_HPP_
+#define DART_DYNAMICS_VOXELGRIDSHAPE_HPP_
+
+#include <dart/config.hpp>
+
+#if HAVE_OCTOMAP
+
+  #include <dart/collision/fcl/BackwardCompatibility.hpp>
+
+  #include <dart/dynamics/Frame.hpp>
+  #include <dart/dynamics/Shape.hpp>
+
+  #include <octomap/octomap.h>
+
+namespace dart {
+namespace dynamics {
+
+/// VoxelGridShape represents a probabilistic 3D occupancy voxel grid.
+class VoxelGridShape : public Shape
+{
+public:
+  /// Constructor.
+  /// \param[in] resolution Size of voxel. Default is 0.01.
+  explicit VoxelGridShape(double resolution = 0.01);
+
+  /// Constructs from a octomap::OcTree.
+  /// \param[in] octree Octree.
+  explicit VoxelGridShape(std::shared_ptr<octomap::OcTree> octree);
+
+  /// Destructor.
+  ~VoxelGridShape() override = default;
+
+  // Documentation inherited.
+  const std::string& getType() const override;
+
+  /// Returns shape type for this class
+  static const std::string& getStaticType();
+
+  /// Sets octree.
+  void setOctree(std::shared_ptr<octomap::OcTree> octree);
+
+  /// Returns octree.
+  std::shared_ptr<octomap::OcTree> getOctree();
+
+  /// Returns octree.
+  std::shared_ptr<const octomap::OcTree> getOctree() const;
+
+  /// Updates the occupancy probability of the voxels where \c point is located.
+  ///
+  /// Note that the probability is computed by both of the current probability
+  /// and the new sensor measurement.
+  ///
+  /// \param[in] point Location of the sensor measurement.
+  /// \param[in] occupied True if the location was measured occupied.
+  void updateOccupancy(const Eigen::Vector3d& point, bool occupied = true);
+
+  /// Updates the occupancy probability of the voxels given sensor measurement,
+  /// which is a single ray.
+  ///
+  /// Note that the probability is computed by both of the current probability
+  /// and the new sensor measurement.
+  ///
+  /// If you have a ray cloud, then using updateOccupancy(PointClout, ...) is
+  /// more efficient.
+  ///
+  /// \param from Origin of sensor in global coordinates.
+  /// \param to Endpoint of measurement in global coordinates.
+  void updateOccupancy(const Eigen::Vector3d& from, const Eigen::Vector3d& to);
+
+  /// Updates the occupancy probability of the voxels given sensor measurement.
+  ///
+  /// Note that the probability is computed by both of the current probability
+  /// and the new sensor measurement.
+  ///
+  /// The voxels where the ray endpoints are located will increase the
+  /// probabilities because that’s where the rays hit objects. On the other
+  /// hand, the voxels that the rays pass through will decrease the
+  /// probabilities because it means there are no objects.
+  ///
+  /// \param[in] pointCloud Point cloud relative to frame. Points represent the
+  /// end points of the rays from the sensor origin.
+  /// \param[in] sensorOrigin Origin of sensor relative to frame.
+  /// \param[in] relativeTo Reference frame, determines transform to be
+  /// applied to point cloud and sensor origin.
+  void updateOccupancy(
+      const octomap::Pointcloud& pointCloud,
+      const Eigen::Vector3d& sensorOrigin = Eigen::Vector3d::Zero(),
+      const Frame* relativeTo = Frame::World());
+
+  /// Updates the occupancy probability of the voxels given sensor measurement.
+  ///
+  /// Note that the probability is computed by both of the current probability
+  /// and the new sensor measurement.
+  ///
+  /// The voxels where the ray endpoints are located will increase the
+  /// probabilities because that’s where the rays hit objects. On the other
+  /// hand, the voxels that the rays pass through will decrease the
+  /// probabilities because it means there are no objects.
+  ///
+  /// \param[in] pointCloud Point cloud relative to frame. Points represent the
+  /// end points of the rays from the sensor origin.
+  /// \param[in] sensorOrigin Origin of sensor relative to frame.
+  /// \param[in] relativeTo Reference frame, determines transform to be
+  /// applied to point cloud and sensor origin.
+  void updateOccupancy(
+      const octomap::Pointcloud& pointCloud,
+      const Eigen::Vector3d& sensorOrigin,
+      const Eigen::Isometry3d& relativeTo);
+
+  /// Returns occupancy probability of a node that contains \c point.
+  double getOccupancy(const Eigen::Vector3d& point) const;
+
+  // Documentation inherited.
+  Eigen::Matrix3d computeInertia(double mass) const override;
+
+  // Documentation inherited.
+  void notifyColorUpdated(const Eigen::Vector4d& color) override;
+
+  // Documentation inherited.
+  ShapePtr clone() const override;
+
+protected:
+  // Documentation inherited.
+  void updateBoundingBox() const override;
+
+  // Documentation inherited.
+  void updateVolume() const override;
+
+  /// Octree.
+  std::shared_ptr<octomap::OcTree> mOctree;
+  // TODO(JS): Use std::shared_ptr once we drop supporting FCL (< 0.5)
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // HAVE_OCTOMAP
+
+#endif // DART_DYNAMICS_VOXELGRIDSHAPE_HPP_

include/dart/dynamics/WeldJoint.hpp

@@ -0,0 +1,116 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_DYNAMICS_WELDJOINT_HPP_
+#define DART_DYNAMICS_WELDJOINT_HPP_
+
+#include <dart/dynamics/ZeroDofJoint.hpp>
+
+#include <Eigen/Dense>
+
+#include <string>
+
+namespace dart {
+namespace dynamics {
+
+/// class WeldJoint
+class WeldJoint : public ZeroDofJoint
+{
+public:
+  friend class Skeleton;
+
+  struct Properties : ZeroDofJoint::Properties
+  {
+    DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(Properties)
+
+    Properties(const Joint::Properties& _properties = Joint::Properties());
+
+    virtual ~Properties() = default;
+  };
+
+  WeldJoint(const WeldJoint&) = delete;
+
+  /// Destructor
+  virtual ~WeldJoint();
+
+  /// Get the Properties of this WeldJoint
+  Properties getWeldJointProperties() const;
+
+  // Documentation inherited
+  const std::string& getType() const override;
+
+  /// Get joint type for this class
+  static const std::string& getStaticType();
+
+  // Documentation inherited
+  bool isCyclic(std::size_t _index) const override;
+
+  // Documentation inherited
+  void setTransformFromParentBodyNode(const Eigen::Isometry3d& _T) override;
+
+  // Documentation inherited
+  void setTransformFromChildBodyNode(const Eigen::Isometry3d& _T) override;
+
+protected:
+  /// Constructor called by Skeleton class
+  WeldJoint(const Properties& properties);
+
+  // Documentation inherited
+  Joint* clone() const override;
+
+  //----------------------------------------------------------------------------
+  // Recursive algorithms
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  void updateRelativeTransform() const override;
+
+  // Documentation inherited
+  void updateRelativeSpatialVelocity() const override;
+
+  // Documentation inherited
+  void updateRelativeSpatialAcceleration() const override;
+
+  // Documentation inherited
+  void updateRelativePrimaryAcceleration() const override;
+
+  // Documentation inherited
+  void updateRelativeJacobian(bool = true) const override;
+
+  // Documentation inherited
+  void updateRelativeJacobianTimeDeriv() const override;
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_WELDJOINT_HPP_