dartpy 7.0.0.dev0__cp313-cp313-manylinux_2_39_x86_64.whl

include/dart/dynamics/ShapeNode.hpp

@@ -0,0 +1,134 @@
+/*
+ * 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_SHAPENODE_HPP_
+#define DART_DYNAMICS_SHAPENODE_HPP_
+
+#include <dart/dynamics/detail/ShapeNode.hpp>
+
+#include <dart/common/Signal.hpp>
+
+#include <Eigen/Dense>
+
+namespace dart {
+namespace dynamics {
+
+class VisualAspect;
+class CollisionAspect;
+class DynamicsAspect;
+
+class ShapeNode : public detail::ShapeNodeCompositeBase
+{
+public:
+  friend class BodyNode;
+
+  using ShapeUpdatedSignal = common::Signal<void(
+      const ShapeNode* thisShapeNode,
+      const ShapePtr& oldShape,
+      const ShapePtr& newShape)>;
+
+  using RelativeTransformUpdatedSignal = common::Signal<void(
+      const ShapeNode* thisShapeNode,
+      const Eigen::Isometry3d& oldTransform,
+      const Eigen::Isometry3d& newTransform)>;
+
+  using BasicProperties
+      = common::Composite::MakeProperties<NameAspect, FixedFrame, ShapeFrame>;
+
+  using Properties = common::Composite::Properties;
+
+  /// Destructor
+  virtual ~ShapeNode() = default;
+
+  /// Set the Properties of this ShapeNode
+  void setProperties(const Properties& properties);
+
+  /// Get the Properties of this ShapeNode
+  const Properties getShapeNodeProperties() const;
+
+  /// Copy the properties of another ShapeNode
+  void copy(const ShapeNode& other);
+
+  /// Copy the properties of another ShapeNode
+  void copy(const ShapeNode* other);
+
+  /// Same as copy(const ShapeNode&)
+  ShapeNode& operator=(const ShapeNode& other);
+
+  /// Set transformation of this shape node relative to the parent frame
+  void setRelativeTransform(const Eigen::Isometry3d& transform) override;
+
+  /// Set rotation of this shape node relative to the parent frame
+  void setRelativeRotation(const Eigen::Matrix3d& rotation);
+
+  /// Get rotation of this shape node relative to the parent frame
+  Eigen::Matrix3d getRelativeRotation() const;
+
+  /// Set translation of this shape node relative to the parent frame
+  void setRelativeTranslation(const Eigen::Vector3d& translation);
+
+  /// Same as setRelativeTranslation(offset)
+  void setOffset(const Eigen::Vector3d& offset);
+
+  /// Get translation of this shape node relative to the parent frame
+  Eigen::Vector3d getRelativeTranslation() const;
+
+  /// Same as getRelativeTranslation()
+  Eigen::Vector3d getOffset() const;
+
+  // Documentation inherited
+  ShapeNode* asShapeNode() override;
+
+  // Documentation inherited
+  const ShapeNode* asShapeNode() const override;
+
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+protected:
+  /// Constructor used by the Skeleton class
+  ShapeNode(BodyNode* bodyNode, const BasicProperties& properties);
+
+  /// Constructor used by the Skeleton class
+  ShapeNode(
+      BodyNode* bodyNode,
+      const ShapePtr& shape,
+      const std::string& name = "ShapeNode");
+
+  /// Create a clone of this ShapeNode. This may only be called by the Skeleton
+  /// class.
+  Node* cloneNode(BodyNode* parent) const override;
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_SHAPENODE_HPP_

include/dart/dynamics/SharedLibraryIkFast.hpp

@@ -0,0 +1,147 @@
+/*
+ * 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_SHAREDLIBRARYIKFAST_HPP_
+#define DART_DYNAMICS_SHAREDLIBRARYIKFAST_HPP_
+
+#include <dart/dynamics/IkFast.hpp>
+
+#include <dart/common/SharedLibrary.hpp>
+
+namespace dart {
+namespace dynamics {
+
+/// IkFast-based analytical inverse kinematics class.
+///
+/// The detail of IkFast can be found here:
+/// http://openrave.org/docs/0.8.2/openravepy/ikfast/
+class SharedLibraryIkFast : public IkFast
+{
+public:
+  /// Constructor
+  ///
+  /// \param[in] ik The parent InverseKinematics solver that is associated with
+  /// this gradient method.
+  /// \param[in] filePath The path to the shared library of the IkFast binary
+  /// file
+  /// \param[in] dofMap The indices to the degrees-of-freedom that will be
+  /// solved by IkFast. The number of DOFs can be varied depending on the IkFast
+  /// solvers.
+  /// \param[in] freeDofMap The indices to the DOFs that are not solved by the
+  /// IkFast solver. The values of these DOFs should be set properly.
+  /// \param[in] methodName The name of this analytical inverse kinematics
+  /// method.
+  /// \param[in] properties Properties of InverseKinematics::Analytical.
+  SharedLibraryIkFast(
+      InverseKinematics* ik,
+      const std::string& filePath,
+      const std::vector<std::size_t>& dofMap,
+      const std::vector<std::size_t>& freeDofMap,
+      const std::string& methodName = "IKFast",
+      const Analytical::Properties& properties = Analytical::Properties());
+
+  // Documentation inherited.
+  auto clone(InverseKinematics* newIK) const
+      -> std::unique_ptr<GradientMethod> override;
+
+protected:
+  // Documentation inherited.
+  int getNumFreeParameters() const override;
+
+  // Documentation inherited.
+  int* getFreeParameters() const override;
+
+  // Documentation inherited.
+  int getNumJoints() const override;
+
+  // Documentation inherited.
+  int getIkRealSize() const override;
+
+  // Documentation inherited.
+  int getIkType() const override;
+
+  // Documentation inherited.
+  bool computeIk(
+      const IkReal* targetTranspose,
+      const IkReal* targetRotation,
+      const IkReal* freeParams,
+      ikfast::IkSolutionListBase<IkReal>& solutions) override;
+
+  // Documentation inherited.
+  void computeFk(
+      const IkReal* parameters,
+      IkReal* targetTranspose,
+      IkReal* targetRotation) override;
+
+  // Documentation inherited.
+  const char* getKinematicsHash() override;
+
+  // Documentation inherited.
+  const char* getIkFastVersion() override;
+
+  // Documentation inherited.
+  void configure() const override;
+
+protected:
+  using IkFastFuncGetInt = int (*)();
+  using IkFastFuncGetIntPtr = int* (*)();
+  using IkFastFuncComputeIk = bool (*)(
+      const IkReal* targetTranspose,
+      const IkReal* targetRotation,
+      const IkReal* freeParams,
+      ikfast::IkSolutionListBase<IkReal>& solutions);
+  using IkFastFuncComputeFk = void (*)(
+      const IkReal* parameters,
+      IkReal* targetTranspose,
+      IkReal* targetRotation);
+  using IkFastFuncGetConstCharPtr = const char* (*)();
+
+  /// File path to the ikfast shared library.
+  std::string mFilePath;
+
+  mutable std::shared_ptr<common::SharedLibrary> mSharedLibrary;
+
+  mutable IkFastFuncGetInt mGetNumFreeParameters;
+  mutable IkFastFuncGetIntPtr mGetFreeParameters;
+  mutable IkFastFuncGetInt mGetNumJoints;
+  mutable IkFastFuncGetInt mGetIkRealSize;
+  mutable IkFastFuncGetInt mGetIkType;
+  mutable IkFastFuncComputeIk mComputeIk;
+  mutable IkFastFuncComputeFk mComputeFk;
+  mutable IkFastFuncGetConstCharPtr mGetKinematicsHash;
+  mutable IkFastFuncGetConstCharPtr mGetIkFastVersion;
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_SHAREDLIBRARYIKFAST_HPP_

include/dart/dynamics/SimpleFrame.hpp

@@ -0,0 +1,247 @@
+/*
+ * 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_SIMPLEFRAME_HPP_
+#define DART_DYNAMICS_SIMPLEFRAME_HPP_
+
+#include <dart/dynamics/ShapeNode.hpp>
+
+namespace dart {
+namespace dynamics {
+
+/// The SimpleFrame class offers a user-friendly way of creating arbitrary
+/// Frames within the kinematic tree structure of DART. The user is free to
+/// specify the relative transform, relative velocity, and relative acceleration
+/// of this Frame.
+///
+/// While many classes (such as BodyNode and EndEffector) inherit the Frame
+/// class, they all have restrictions (constraints) on how their properties
+/// (such as position, velocity, and acceleration) can be modified. Conversely,
+/// the SimpleFrame class is nothing but a simple abstract Frame whose
+/// properties can be arbitrarily set and modified by the user.
+class SimpleFrame : public Detachable, public ShapeFrame
+{
+public:
+  DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(SimpleFrame)
+
+  /// Constructor
+  explicit SimpleFrame(
+      Frame* _refFrame = Frame::World(),
+      const std::string& _name = "simple_frame",
+      const Eigen::Isometry3d& _relativeTransform
+      = Eigen::Isometry3d::Identity());
+
+  /// Copy constructor. Note that the parent frame of _otherFrame will not be
+  /// copied as the reference frame for the newly created SimpleFrame.
+  SimpleFrame(
+      const SimpleFrame& _otherFrame, Frame* _refFrame = Frame::World());
+
+  /// Destructor
+  ~SimpleFrame() override;
+
+  // Documentation inherited
+  const std::string& setName(const std::string& _name) override;
+
+  // Documentation inherited
+  const std::string& getName() const override;
+
+  /// Create a new SimpleFrame with the same world transform, velocity, and
+  /// acceleration as this one. _refFrame will be used as the reference Frame
+  /// of the new SimpleFrame.
+  std::shared_ptr<SimpleFrame> clone(Frame* _refFrame = Frame::World()) const;
+
+  /// Make the world transform, world velocity, and world acceleration of this
+  /// SimpleFrame match another Frame. The _refFrame argument will be the new
+  /// parent Frame of this SimpleFrame. Also copies the Entity Properties if
+  /// _copyProperties is left as true.
+  void copy(
+      const Frame& _otherFrame,
+      Frame* _refFrame = Frame::World(),
+      bool _copyProperties = true);
+
+  /// Same as copy(const Frame&)
+  void copy(
+      const Frame* _otherFrame,
+      Frame* _refFrame = Frame::World(),
+      bool _copyProperties = true);
+
+  /// Same as copy(const Frame&) except the parent frame of this SimpleFrame is
+  /// left the same, and _copyProperties is set to false.
+  SimpleFrame& operator=(const SimpleFrame& _otherFrame);
+
+  /// Spawn a child SimpleFrame to this SimpleFrame. SimpleFrame doesn't have
+  /// the ownership of the created child SimpleFrame. This means that you are
+  /// responsible for holding onto the returned SimpleFrame. If you neglect to
+  /// store it, it will automatically be destroyed.
+  std::shared_ptr<SimpleFrame> spawnChildSimpleFrame(
+      const std::string& name = "SimpleFrame",
+      const Eigen::Isometry3d& relativeTransform
+      = Eigen::Isometry3d::Identity());
+
+  //--------------------------------------------------------------------------
+  // Transform
+  //--------------------------------------------------------------------------
+
+  /// Set the relative transform of this SimpleFrame
+  void setRelativeTransform(const Eigen::Isometry3d& _newRelTransform);
+
+  /// Set the relative translation of this SimpleFrame
+  void setRelativeTranslation(const Eigen::Vector3d& _newTranslation);
+
+  /// Set the relative rotation of this SimpleFrame
+  void setRelativeRotation(const Eigen::Matrix3d& _newRotation);
+
+  /// Set the transform of this SimpleFrame so that its transform with respect
+  /// to Frame _withRespectTo is equal to _newTransform. Note that the parent
+  /// Frame of this SimpleFrame will not be changed.
+  void setTransform(
+      const Eigen::Isometry3d& _newTransform,
+      const Frame* _withRespectTo = Frame::World());
+
+  /// Set the translation of this SimpleFrame so that its translation with
+  /// respect to Frame _withRespectTo is equal to _newTranslation. Note that the
+  /// parent Frame of this SimpleFrame will not be changed.
+  void setTranslation(
+      const Eigen::Vector3d& _newTranslation,
+      const Frame* _withRespectTo = Frame::World());
+
+  /// Set the rotation of this SimpleFrame so that its rotation with respect
+  /// to Frame _withRespectTo is equal to _newRotation. Note that the parent
+  /// Frame of this SimpleFrame will not be changed.
+  void setRotation(
+      const Eigen::Matrix3d& _newRotation,
+      const Frame* _withRespectTo = Frame::World());
+
+  // Documentation inherited
+  const Eigen::Isometry3d& getRelativeTransform() const override;
+
+  //--------------------------------------------------------------------------
+  // Velocity
+  //--------------------------------------------------------------------------
+
+  /// Set the spatial velocity of this SimpleFrame relative to its parent Frame.
+  /// Must be in the coordinates of THIS Frame.
+  ///
+  /// This is the most computationally efficient way of setting relative
+  /// velocity.
+  ///
+  /// Use setClassicDerivatives to set the velocity according to classic
+  /// relative linear and angular velocity values.
+  void setRelativeSpatialVelocity(const Eigen::Vector6d& _newSpatialVelocity);
+
+  /// Set the spatial velocity of this SimpleFrame relative to its parent Frame.
+  /// Specify the coordinate Frame of _newSpatialVelocity.
+  ///
+  /// Use setClassicDerivatives to set the velocity according to classic
+  /// relative linear and angular velocity values.
+  void setRelativeSpatialVelocity(
+      const Eigen::Vector6d& _newSpatialVelocity,
+      const Frame* _inCoordinatesOf);
+
+  // Documentation inherited
+  const Eigen::Vector6d& getRelativeSpatialVelocity() const override;
+
+  //--------------------------------------------------------------------------
+  // Acceleration
+  //--------------------------------------------------------------------------
+
+  /// Set the spatial acceleration of this SimpleFrame relative to its parent
+  /// Frame. Must be in the coordinates of THIS Frame.
+  ///
+  /// This is the most computationally efficient way of setting relative
+  /// acceleration.
+  void setRelativeSpatialAcceleration(
+      const Eigen::Vector6d& _newSpatialAcceleration);
+
+  /// Set the spatial acceleration of this SimpleFrame relative to its parent
+  /// Frame. Specify the coordinate Frame of _newSpatialAcceleration.
+  void setRelativeSpatialAcceleration(
+      const Eigen::Vector6d& _newSpatialAcceleration,
+      const Frame* _inCoordinatesOf);
+
+  // Documentation inherited
+  const Eigen::Vector6d& getRelativeSpatialAcceleration() const override;
+
+  // Documentation inherited
+  const Eigen::Vector6d& getPrimaryRelativeAcceleration() const override;
+
+  // Documentation inherited
+  const Eigen::Vector6d& getPartialAcceleration() const override;
+
+  //--------------------------------------------------------------------------
+  // Classic Method
+  //--------------------------------------------------------------------------
+
+  /// Set the relative velocity and acceleration of this Frame according to
+  /// classical (non-spatial) relative velocity and relative acceleration
+  /// vectors. These values must be given with respect to this Frame's parent
+  /// (note: this is unlike setRelativeSpatialVelocity and
+  /// setRelativeSpatialAcceleration which expect values in the Frame's own
+  /// coordinates).
+  ///
+  /// This method is slightly less computationally efficient than using
+  /// setRelativeSpatialVelocity and setRelativeSpatialAcceleration, but offers
+  /// the most intuitive way of setting relative velocities and relative
+  /// accelerations.
+  ///
+  /// These values are equivalent to the terms in the Newton-Euler
+  void setClassicDerivatives(
+      const Eigen::Vector3d& _linearVelocity = Eigen::Vector3d::Zero(),
+      const Eigen::Vector3d& _angularVelocity = Eigen::Vector3d::Zero(),
+      const Eigen::Vector3d& _linearAcceleration = Eigen::Vector3d::Zero(),
+      const Eigen::Vector3d& _angularAcceleration = Eigen::Vector3d::Zero());
+
+protected:
+  /// Name of this SimpleFrame
+  std::string mName;
+
+  /// Relative transform of the SimpleFrame
+  Eigen::Isometry3d mRelativeTf;
+
+  /// Relative spatial velocity of the SimpleFrame
+  Eigen::Vector6d mRelativeVelocity;
+
+  /// Relative spatial acceleration of the SimpleFrame
+  Eigen::Vector6d mRelativeAcceleration;
+
+  /// Partial Acceleration of this Frame
+  mutable Eigen::Vector6d mPartialAcceleration;
+
+public:
+  // To get byte-aligned Eigen vectors
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_SIMPLEFRAME_HPP_