placo 0.3.7__tar.gz → 0.3.8__tar.gz

{placo-0.3.7 → placo-0.3.8}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: placo
-Version: 0.3.7
+Version: 0.3.8
 Summary: PlaCo: Rhoban Planning and Control
 Requires-Python: >= 3.8
 License-Expression: MIT

{placo-0.3.7 → placo-0.3.8}/bindings/expose-robot-wrapper.cpp

@@ -33,6 +33,8 @@ void exposeRobotType(class_<RobotType, W1>& type)
       .def("get_joint", &RobotType::get_joint)
       .def("set_joint_velocity", &RobotType::set_joint_velocity)
       .def("get_joint_velocity", &RobotType::get_joint_velocity)
+      .def("set_joint_acceleration", &RobotType::set_joint_acceleration)
+      .def("get_joint_acceleration", &RobotType::get_joint_acceleration)
       .def("set_velocity_limit", &RobotType::set_velocity_limit)
       .def("set_velocity_limits", &RobotType::set_velocity_limits)
       .def("set_torque_limit", &RobotType::set_torque_limit)

{placo-0.3.7 → placo-0.3.8}/bindings/expose-tools.cpp

@@ -28,7 +28,6 @@ void exposeTools()
   def("wrap_angle", &wrap_angle);
   def("rotation_from_axis", &rotation_from_axis);
   def("frame_yaw", &frame_yaw);
-  def("frame", &frame);
   def("flatten_on_floor", &flatten_on_floor);
 
   exposeStdVector<int>("vector_int");

{placo-0.3.7 → placo-0.3.8}/placo.pyi

@@ -3615,6 +3615,19 @@ class HumanoidRobot:
     :return: the joint current (inner state) value (e.g rad for revolute or meters for prismatic)"""
     ...
 
+  def get_joint_acceleration(
+    self: HumanoidRobot,
+    name: str, # const std::string &
+
+  ) -> float:
+    """Gets the joint acceleration from state.qd. 
+        
+
+    :param name: joint name 
+
+    :return: joint acceleration"""
+    ...
+
   def get_joint_offset(
     self: HumanoidRobot,
     name: str, # const std::string &
@@ -3797,6 +3810,20 @@ class HumanoidRobot:
     :param value: joint value (e.g rad for revolute or meters for prismatic)"""
     ...
 
+  def set_joint_acceleration(
+    self: HumanoidRobot,
+    name: str, # const std::string &
+    value: float, # double
+
+  ) -> None:
+    """Sets the joint acceleration in state.qd. 
+        
+
+    :param name: joint name 
+
+    :param value: joint acceleration"""
+    ...
+
   def set_joint_limits(
     self: HumanoidRobot,
     name: str, # const std::string &
@@ -3926,7 +3953,7 @@ class HumanoidRobot:
     self: HumanoidRobot,
 
   ) -> None:
-    """Update the current kinematics."""
+    """Update internal computation for kinematics (frames, jacobian). This method should be called when the robot state has changed."""
     ...
 
   def update_support_side(
@@ -6007,6 +6034,19 @@ class RobotWrapper:
     :return: the joint current (inner state) value (e.g rad for revolute or meters for prismatic)"""
     ...
 
+  def get_joint_acceleration(
+    self: RobotWrapper,
+    name: str, # const std::string &
+
+  ) -> float:
+    """Gets the joint acceleration from state.qd. 
+        
+
+    :param name: joint name 
+
+    :return: joint acceleration"""
+    ...
+
   def get_joint_offset(
     self: RobotWrapper,
     name: str, # const std::string &
@@ -6176,6 +6216,20 @@ class RobotWrapper:
     :param value: joint value (e.g rad for revolute or meters for prismatic)"""
     ...
 
+  def set_joint_acceleration(
+    self: RobotWrapper,
+    name: str, # const std::string &
+    value: float, # double
+
+  ) -> None:
+    """Sets the joint acceleration in state.qd. 
+        
+
+    :param name: joint name 
+
+    :param value: joint acceleration"""
+    ...
+
   def set_joint_limits(
     self: RobotWrapper,
     name: str, # const std::string &
@@ -6301,7 +6355,7 @@ class RobotWrapper:
     self: RobotWrapper,
 
   ) -> None:
-    """Update the current kinematics."""
+    """Update internal computation for kinematics (frames, jacobian). This method should be called when the robot state has changed."""
     ...
 
   visual_model: any # pinocchio::GeometryModel
@@ -7191,19 +7245,6 @@ def flatten_on_floor(
   ...
 
 
-def frame(
-  matrix: any, # Eigen::Matrix4d
-
-) -> numpy.ndarray:
-  """Makes an Affine3d from a 4x4 matrix (for python bindings) 
-        
-
-  :param matrix: the 4x4 matrix 
-
-  :return: The Affine3d"""
-  ...
-
-
 def frame_yaw(
   rotation: numpy.ndarray, # Eigen::Matrix3d
 

{placo-0.3.7 → placo-0.3.8}/pyproject.toml

@@ -23,7 +23,7 @@ description = "PlaCo: Rhoban Planning and Control"
 license = "MIT"
 name = "placo"
 requires-python = ">= 3.8"
-version = "0.3.7"
+version = "0.3.8"
 
 [project.urls]
 changelog = "https://github.com/rhoban/placo/blob/main/CHANGELOG.md"

{placo-0.3.7 → placo-0.3.8}/src/placo/model/robot_wrapper.cpp

@@ -170,6 +170,16 @@ double RobotWrapper::get_joint_velocity(const std::string& name)
   return state.qd[get_joint_v_offset(name)];
 }
 
+void RobotWrapper::set_joint_acceleration(const std::string& name, double value)
+{
+  state.qdd[get_joint_v_offset(name)] = value;
+}
+
+double RobotWrapper::get_joint_acceleration(const std::string& name)
+{
+  return state.qdd[get_joint_v_offset(name)];
+}
+
 void RobotWrapper::set_joint_velocity(const std::string& name, double value)
 {
   state.qd[get_joint_v_offset(name)] = value;

{placo-0.3.7 → placo-0.3.8}/src/placo/model/robot_wrapper.h

@@ -139,6 +139,20 @@ public:
    */
   double get_joint_velocity(const std::string& name);
 
+  /**
+   * @brief Sets the joint acceleration in state.qd
+   * @param name joint name
+   * @param value joint acceleration
+   */
+  void set_joint_acceleration(const std::string& name, double value);
+
+  /**
+   * @brief Gets the joint acceleration from state.qd
+   * @param name joint name
+   * @return joint acceleration
+   */
+  double get_joint_acceleration(const std::string& name);
+
   /**
    * @brief Gets the offset for a given joint in the \ref state (in \ref State.q)
    * @param name joint name
@@ -205,7 +219,8 @@ public:
   State neutral_state();
 
   /**
-   * @brief Update the current kinematics
+   * @brief Update internal computation for kinematics (frames, jacobian). This method should be called when
+   * the robot state has changed.
    */
   void update_kinematics();
 

{placo-0.3.7 → placo-0.3.8}/src/placo/tools/utils.cpp

@@ -73,14 +73,6 @@ Eigen::Matrix3d rotation_from_axis(std::string axis, Eigen::Vector3d vector)
   return pinocchio::exp3(w * theta);
 }
 
-Eigen::Affine3d frame(Eigen::Matrix4d matrix)
-{
-  Eigen::Affine3d result;
-  result.matrix() = matrix;
-
-  return result;
-}
-
 Eigen::Affine3d flatten_on_floor(const Eigen::Affine3d& transformation)
 {
   Eigen::Affine3d flattened = transformation;

{placo-0.3.7 → placo-0.3.8}/src/placo/tools/utils.h

@@ -34,13 +34,6 @@ double frame_yaw(Eigen::Matrix3d rotation);
  */
 Eigen::Matrix3d rotation_from_axis(std::string axis, Eigen::Vector3d vector);
 
-/**
- * @brief Makes an Affine3d from a 4x4 matrix (for python bindings)
- * @param matrix the 4x4 matrix
- * @return The Affine3d
- */
-Eigen::Affine3d frame(Eigen::Matrix4d matrix);
-
 /**
  * @brief Takes a 3D transformation and ensure it is "flat" on the floor
  * (setting z to 0 and keeping only yaw)