placo 0.3.5__tar.gz → 0.3.7__tar.gz

{placo-0.3.5 → placo-0.3.7}/.gitignore

@@ -4,3 +4,4 @@ html/
 xml/
 latex/
 placo.pyi
+dist/

placo-0.3.7/.readthedocs.yaml

@@ -0,0 +1,22 @@
+# .readthedocs.yaml
+# Read the Docs configuration file
+# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details
+
+# Required
+version: 2
+
+# Set the version of Python and other tools you might need
+build:
+  os: ubuntu-22.04
+  tools:
+    python: "3.11"
+
+# Build documentation in the docs/ directory with Sphinx
+sphinx:
+  configuration: docs/conf.py
+
+# We recommend specifying your dependencies to enable reproducible builds:
+# https://docs.readthedocs.io/en/stable/guides/reproducible-builds.html
+python:
+  install:
+  - requirements: docs/requirements.txt

{placo-0.3.5 → placo-0.3.7}/CMakeLists.txt

@@ -69,6 +69,7 @@ add_library(libplaco SHARED
     src/placo/kinematics/distance_task.cpp
     src/placo/kinematics/joints_task.cpp
     src/placo/kinematics/gear_task.cpp
+    src/placo/kinematics/wheel_task.cpp
     src/placo/kinematics/regularization_task.cpp
     src/placo/kinematics/constraint.cpp
     src/placo/kinematics/avoid_self_collisions_constraint.cpp

{placo-0.3.5 → placo-0.3.7}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: placo
-Version: 0.3.5
+Version: 0.3.7
 Summary: PlaCo: Rhoban Planning and Control
 Requires-Python: >= 3.8
 License-Expression: MIT
@@ -14,6 +14,7 @@ Requires-Dist: pin >= 2.6.18, < 3
 Requires-Dist: rhoban-cmeel-jsoncpp
 Requires-Dist: meshcat
 Requires-Dist: numpy
+Requires-Dist: ischedule
 Provides-Extra: build
 Requires-Dist: pin[build] >= 2.6.18, < 3 ; extra == "build"
 Requires-Dist: cmeel-urdfdom[build] ; extra == "build"

{placo-0.3.5 → placo-0.3.7}/bindings/expose-dynamics.cpp

@@ -135,8 +135,8 @@ void exposeDynamics()
                                                                         &DynamicsSolver::add_frame_task);
 
   class__<Task, bases<tools::Prioritized>, boost::noncopyable>("DynamicsTask", no_init)
-      .add_property("A", &Task::A)
-      .add_property("b", &Task::b)
+      .add_property("A", +[](const Task& task) { return task.A; })
+      .add_property("b", +[](const Task& task) { return task.b; })
       .add_property("kp", &Task::kp, &Task::kp)
       .add_property("kd", &Task::kd, &Task::kd)
       .add_property("critically_damped", &Task::critically_damped, &Task::critically_damped)
@@ -229,7 +229,7 @@ void exposeDynamics()
 
   class__<Constraint, bases<tools::Prioritized>, boost::noncopyable>("DynamicsConstraint", no_init);
 
-  class__<AvoidSelfCollisionsConstraint, bases<Constraint>>("DynamicsAvoidSelfCollisionsConstraint", init<>())
+  class__<AvoidSelfCollisionsConstraint, bases<Constraint>>("AvoidSelfCollisionsDynamicsConstraint", init<>())
       .def_readwrite("self_collisions_margin", &AvoidSelfCollisionsConstraint::self_collisions_margin)
       .def_readwrite("self_collisions_trigger", &AvoidSelfCollisionsConstraint::self_collisions_trigger);
 

{placo-0.3.5 → placo-0.3.7}/bindings/expose-kinematics.cpp

@@ -55,6 +55,10 @@ void exposeKinematics()
           .def<GearTask& (KinematicsSolver::*)(void)>("add_gear_task", &KinematicsSolver::add_gear_task,
                                                       return_internal_reference<>())
 
+          // Wheel task
+          .def<WheelTask& (KinematicsSolver::*)(std::string, double, bool)>(
+              "add_wheel_task", &KinematicsSolver::add_wheel_task, return_internal_reference<>())
+
           // Distance task
           .def<DistanceTask& (KinematicsSolver::*)(std::string, std::string, double)>(
               "add_distance_task", &KinematicsSolver::add_distance_task, return_internal_reference<>())
@@ -96,8 +100,10 @@ void exposeKinematics()
           .def("solve", &KinematicsSolver::solve);
 
   class__<Task, bases<tools::Prioritized>, boost::noncopyable>("Task", no_init)
-      .add_property("A", &Task::A)
-      .add_property("b", &Task::b)
+      .add_property(
+          "A", +[](const Task& task) { return task.A; })
+      .add_property(
+          "b", +[](const Task& task) { return task.b; })
       .def("error", &Task::error)
       .def("error_norm", &Task::error_norm)
       .def("update", &Task::update);
@@ -167,6 +173,13 @@ void exposeKinematics()
 
   class__<GearTask, bases<Task>>("GearTask", init<>()).def("set_gear", &GearTask::set_gear);
 
+  class__<WheelTask, bases<Task>>("WheelTask", init<std::string, double, bool>())
+      .add_property("joint", &WheelTask::joint)
+      .add_property("radius", &WheelTask::radius)
+      .add_property("omniwheel", &WheelTask::omniwheel)
+      .add_property(
+          "T_world_surface", +[](const WheelTask& task) { return task.T_world_surface; }, &WheelTask::T_world_surface);
+
   class__<DistanceTask, bases<Task>>("DistanceTask", init<RobotWrapper::FrameIndex, RobotWrapper::FrameIndex, double>())
       .add_property("frame_a", &DistanceTask::frame_a)
       .add_property("frame_b", &DistanceTask::frame_b)
@@ -180,7 +193,7 @@ void exposeKinematics()
 
   class__<Constraint, bases<tools::Prioritized>, boost::noncopyable>("KinematicsConstraint", no_init);
 
-  class__<AvoidSelfCollisionsConstraint, bases<Constraint>>("KinematicsAvoidSelfCollisionsConstraint", init<>())
+  class__<AvoidSelfCollisionsConstraint, bases<Constraint>>("AvoidSelfCollisionsKinematicsConstraint", init<>())
       .def_readwrite("self_collisions_margin", &AvoidSelfCollisionsConstraint::self_collisions_margin)
       .def_readwrite("self_collisions_trigger", &AvoidSelfCollisionsConstraint::self_collisions_trigger);
 

{placo-0.3.5 → placo-0.3.7}/doxygen_parse.py

@@ -17,7 +17,10 @@ def resolve_type(node):
     type_node = node.find("type")
 
     if type_node.find("ref") is not None:
-        return type_node.find("ref").attrib["refid"]
+        if type_node.text and "vector" in type_node.text:
+          return ["std::vector", type_node.find("ref").attrib["refid"]]
+        else:
+          return type_node.find("ref").attrib["refid"]
     else:
         return type_node.text
 
@@ -104,7 +107,7 @@ def parse_compound(compounddef_node: ET.Element):
                 "detaileddescription/para/parameterlist/parameteritem"
             ):
                 param_name = entry.find("parameternamelist/parametername").text
-                param_desc = entry.find("parameterdescription/para").text
+                param_desc = element_to_string(entry.find("parameterdescription/para"))
                 member_definitions[id]["detailed"].append(
                     {"name": param_name, "desc": param_desc}
                 )
@@ -119,7 +122,7 @@ def parse_compound(compounddef_node: ET.Element):
                 "detaileddescription/para/simplesect[@kind='return']"
             )
             if return_type:
-                member_definitions[id]["returns"] = return_type.find("para").text
+                member_definitions[id]["returns"] = element_to_string(return_type.find("para"))
 
             if compound_kind == "namespace":
                 compound_members[name].append(id)
@@ -129,7 +132,7 @@ def parse_compound(compounddef_node: ET.Element):
         elif kind == "enum":
             doxygen_id_to_name[id] = name + "::" + member.find("name").text
 
-    # Listinf all members
+    # Listing all members
     kind = compounddef_node.attrib["kind"]
     for member in compounddef_node.findall("listofallmembers/member"):
         compound_members[name].append(member.attrib["refid"])
@@ -145,8 +148,12 @@ def parse_xml(xml_file: str):
             parse_compound(compounddef_node)
 
 
-def resolve_doxygen_id(id: str):
-    if id in doxygen_id_to_name:
+def resolve_doxygen_id(id: list|str):
+    if type(id) == list:
+        tpl = resolve_doxygen_id(id[0])
+        typ = resolve_doxygen_id(id[1])
+        return f"{tpl}<{typ}>"
+    elif id in doxygen_id_to_name:
         return doxygen_id_to_name[id]
     else:
         return id