dartpy 7.0.0.dev0__cp313-cp313-manylinux_2_39_x86_64.whl

include/dart/dynamics/PlanarJoint.hpp

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+/*
+ * 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_PLANARRJOINT_HPP_
+#define DART_DYNAMICS_PLANARRJOINT_HPP_
+
+#include <dart/dynamics/detail/PlanarJointAspect.hpp>
+
+namespace dart {
+namespace dynamics {
+
+/// PlanarJoint represents a 3-dof joint, which has two orthogonal translational
+/// axes and one rotational axis.
+///
+/// First and second coordiantes represent translation along first and second
+/// translational axes, respectively. Third coordinate represents rotation
+/// along rotational axis.
+class PlanarJoint : public detail::PlanarJointBase
+{
+public:
+  friend class Skeleton;
+  using PlaneType = detail::PlaneType;
+  using UniqueProperties = detail::PlanarJointUniqueProperties;
+  using Properties = detail::PlanarJointProperties;
+  using Base = GenericJoint<math::R3Space>;
+
+  DART_BAKE_SPECIALIZED_ASPECT_IRREGULAR(Aspect, PlanarJointAspect)
+
+  PlanarJoint(const PlanarJoint&) = delete;
+
+  /// Destructor
+  virtual ~PlanarJoint();
+
+  /// Set the Properties of this PlanarJoint
+  void setProperties(const Properties& _properties);
+
+  /// Set the Properties of this PlanarJoint
+  void setProperties(const UniqueProperties& _properties);
+
+  /// Set the AspectProperties of this PlanarJoint
+  void setAspectProperties(const AspectProperties& properties);
+
+  /// Get the Properties of this PlanarJoint
+  Properties getPlanarJointProperties() const;
+
+  /// Copy the Properties of another PlanarJoint
+  void copy(const PlanarJoint& _otherJoint);
+
+  /// Copy the Properties of another PlanarJoint
+  void copy(const PlanarJoint* _otherJoint);
+
+  /// Same as copy(const PlanarJoint&)
+  PlanarJoint& operator=(const PlanarJoint& _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;
+
+  /// \brief Set 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);
+
+  /// \brief Set 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);
+
+  /// \brief Set 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);
+
+  /// \brief Set plane type as arbitrary plane with two orthogonal translational
+  /// axes
+  /// \param[in] _transAxis1 An orthogonal translational axis
+  /// \param[in] _transAxis2 Another orthogonal translation 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);
+
+  /// Return plane type
+  PlaneType getPlaneType() const;
+
+  /// Return rotational axis
+  const Eigen::Vector3d& getRotationalAxis() const;
+
+  /// Return first translational axis
+  const Eigen::Vector3d& getTranslationalAxis1() const;
+
+  /// Return second translational axis
+  const Eigen::Vector3d& getTranslationalAxis2() const;
+
+  // Documentation inherited
+  Eigen::Matrix<double, 6, 3> getRelativeJacobianStatic(
+      const Eigen::Vector3d& _positions) const override;
+
+protected:
+  /// Constructor called by Skeleton class
+  PlanarJoint(const Properties& properties);
+
+  // Documentation inherited
+  Joint* clone() const override;
+
+  using Base::getRelativeJacobianStatic;
+
+  /// Set the names of this joint's DegreesOfFreedom. Used during construction
+  /// and when the Plane type is changed.
+  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_PLANARRJOINT_HPP_

include/dart/dynamics/PlaneShape.hpp

@@ -0,0 +1,105 @@
+/*
+ * 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_PLANESHAPE_HPP_
+#define DART_DYNAMICS_PLANESHAPE_HPP_
+
+#include <dart/dynamics/Shape.hpp>
+
+namespace dart {
+namespace dynamics {
+
+/// PlaneShape represents infinite plane has normal and offset as properties.
+class PlaneShape : public Shape
+{
+public:
+  /// Constructor
+  PlaneShape(const Eigen::Vector3d& _normal, double _offset);
+
+  /// Constructor
+  PlaneShape(const Eigen::Vector3d& _normal, const Eigen::Vector3d& _point);
+
+  // Documentation inherited.
+  const std::string& getType() const override;
+
+  /// Returns shape type for this class
+  static const std::string& getStaticType();
+
+  // Documentation inherited.
+  Eigen::Matrix3d computeInertia(double mass) const override;
+
+  /// Set plane normal
+  void setNormal(const Eigen::Vector3d& _normal);
+
+  /// Get plane normal
+  const Eigen::Vector3d& getNormal() const;
+
+  /// Set plane offset
+  void setOffset(double _offset);
+
+  /// Get plane offset
+  double getOffset() const;
+
+  /// Set plane normal and offset
+  void setNormalAndOffset(const Eigen::Vector3d& _normal, double _offset);
+
+  /// Set plane normal and point
+  void setNormalAndPoint(
+      const Eigen::Vector3d& _normal, const Eigen::Vector3d& _point);
+
+  /// Compute distance between the plane and the given point
+  double computeDistance(const Eigen::Vector3d& _point) const;
+
+  /// Compute signed distance between the plane and the given point
+  double computeSignedDistance(const Eigen::Vector3d& _point) const;
+
+  // Documentation inherited.
+  ShapePtr clone() const override;
+
+private:
+  // Documentation inherited.
+  void updateBoundingBox() const override;
+
+  // Documentation inherited.
+  void updateVolume() const override;
+
+  /// Plane normal
+  Eigen::Vector3d mNormal;
+
+  /// Plane offset
+  double mOffset;
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_PLANESHAPE_HPP_

include/dart/dynamics/PointCloudShape.hpp

@@ -0,0 +1,186 @@
+/*
+ * 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_POINTCLOUDSHAPE_HPP_
+#define DART_DYNAMICS_POINTCLOUDSHAPE_HPP_
+
+#include <dart/dynamics/Shape.hpp>
+
+#if HAVE_OCTOMAP
+  #include <octomap/Pointcloud.h>
+#endif
+
+namespace dart {
+namespace dynamics {
+
+/// The PointCloudShape represents point cloud data.
+class PointCloudShape : public Shape
+{
+public:
+  enum ColorMode
+  {
+    /// Use the color specified by the ShapeAspect. This is the default.
+    USE_SHAPE_COLOR = 0,
+
+    /// Use one color for all the points
+    BIND_OVERALL,
+
+    /// Use one color per point
+    BIND_PER_POINT,
+  };
+
+  enum PointShapeType
+  {
+    BOX = 0,          ///< 3D volumetric box
+    BILLBOARD_SQUARE, ///< 2D square always facing the screen
+    BILLBOARD_CIRCLE, ///< 2D circle always facing the screen
+    POINT,            ///< Vertex
+  };
+
+  /// Constructor
+  ///
+  /// \param[in] visualSize The size of cube that represents each point.
+  explicit PointCloudShape(double visualSize = 0.01);
+
+  /// Destructor
+  ~PointCloudShape() override = default;
+
+  // Documentation inherited.
+  const std::string& getType() const override;
+
+  // Documentation inherited.
+  Eigen::Matrix3d computeInertia(double mass) const override;
+
+  /// Returns shape type for this class
+  static const std::string& getStaticType();
+
+  /// Reserves the point list by \c size.
+  void reserve(std::size_t size);
+
+  /// Adds a point to this point cloud.
+  void addPoint(const Eigen::Vector3d& point);
+
+  /// Adds points to this point cloud.
+  void addPoint(const std::vector<Eigen::Vector3d>& points);
+
+  /// Replaces points with \c points.
+  void setPoint(const std::vector<Eigen::Vector3d>& points);
+
+#if HAVE_OCTOMAP
+  /// Replaces points with \c pointCloud.
+  void setPoints(const ::octomap::Pointcloud& pointCloud);
+
+  /// Adds points from Octomap PointCloud.
+  void addPoints(const ::octomap::Pointcloud& pointCloud);
+#endif
+
+  /// Returns the list of points.
+  const std::vector<Eigen::Vector3d>& getPoints() const;
+
+  /// Returns the number of points.
+  std::size_t getNumPoints() const;
+
+  /// Removes all the points.
+  void removeAllPoints();
+
+  /// Sets the point shape type.
+  void setPointShapeType(PointShapeType type);
+
+  /// Returns the point shape type.
+  PointShapeType getPointShapeType() const;
+
+  /// Sets the color mode.
+  void setColorMode(ColorMode mode);
+
+  /// Returns the color mode.
+  ColorMode getColorMode() const;
+
+  /// Sets the overall color.
+  ///
+  /// This function resizes the colors to one.
+  void setOverallColor(const Eigen::Vector4d& color);
+
+  /// Returns the overall color.
+  Eigen::Vector4d getOverallColor() const;
+
+  /// Sets the point cloud colors.
+  ///
+  /// The count of colors should be the same with points. It's undefined
+  /// behavior, otherwise.
+  void setColors(const std::vector<
+                 Eigen::Vector4d,
+                 Eigen::aligned_allocator<Eigen::Vector4d>>& colors);
+
+  /// Returns the point cloud colors.
+  const std::vector<Eigen::Vector4d, Eigen::aligned_allocator<Eigen::Vector4d>>&
+  getColors() const;
+
+  /// Sets size of visual object that represents each point.
+  void setVisualSize(double size);
+
+  /// Returns size of visual object that represents each point.
+  double getVisualSize() const;
+
+  // Documentation inherited.
+  void notifyColorUpdated(const Eigen::Vector4d& color) override;
+
+  // Documentation inherited.
+  ShapePtr clone() const override;
+
+protected:
+  // Documentation inherited.
+  void updateVolume() const override;
+
+  // Documentation inherited.
+  void updateBoundingBox() const override;
+
+  /// List of points
+  std::vector<Eigen::Vector3d> mPoints;
+
+  /// The point shape type.
+  PointShapeType mPointShapeType;
+
+  /// The color mode
+  ColorMode mColorMode;
+
+  /// List of colors
+  std::vector<Eigen::Vector4d, Eigen::aligned_allocator<Eigen::Vector4d>>
+      mColors;
+
+  /// The size of visual object that represents each point.
+  double mVisualSize;
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_POINTCLOUDSHAPE_HPP_