Adding a binding for unwrapEulerAngles

keenon · Sep 27, 2024 · deb01b1 · deb01b1
1 parent 3896ee2
commit deb01b1
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Showing 5 changed files with 40 additions and 15 deletions.
diff --git a/python/_nimblephysics/dynamics/EulerJoint.cpp b/python/_nimblephysics/dynamics/EulerJoint.cpp
@@ -44,17 +44,17 @@ namespace python {
 
 void EulerJoint(py::module& m)
 {
-  ::py::enum_<dart::dynamics::EulerJoint::AxisOrder>(m, "AxisOrder")
-      .value("XYZ", dart::dynamics::EulerJoint::AxisOrder::XYZ)
-      .value("XZY", dart::dynamics::EulerJoint::AxisOrder::XZY)
-      .value("ZYX", dart::dynamics::EulerJoint::AxisOrder::ZYX)
-      .value("ZXY", dart::dynamics::EulerJoint::AxisOrder::ZXY);
+  ::py::enum_<dart::dynamics::detail::AxisOrder>(m, "AxisOrder")
+      .value("XYZ", dart::dynamics::detail::AxisOrder::XYZ)
+      .value("XZY", dart::dynamics::detail::AxisOrder::XZY)
+      .value("ZYX", dart::dynamics::detail::AxisOrder::ZYX)
+      .value("ZXY", dart::dynamics::detail::AxisOrder::ZXY);
 
   ::py::class_<dart::dynamics::EulerJoint::UniqueProperties>(
       m, "EulerJointUniqueProperties")
       .def(::py::init<>())
       .def(
-          ::py::init<dart::dynamics::EulerJoint::AxisOrder>(),
+          ::py::init<dart::dynamics::detail::AxisOrder>(),
           ::py::arg("axisOrder"));
 
   ::py::class_<
@@ -162,21 +162,21 @@ void EulerJoint(py::module& m)
       .def(
           "setAxisOrder",
           +[](dart::dynamics::EulerJoint* self,
-              dart::dynamics::EulerJoint::AxisOrder _order) {
+              dart::dynamics::detail::AxisOrder _order) {
             self->setAxisOrder(_order);
           },
           ::py::arg("order"))
       .def(
           "setAxisOrder",
           +[](dart::dynamics::EulerJoint* self,
-              dart::dynamics::EulerJoint::AxisOrder _order,
+              dart::dynamics::detail::AxisOrder _order,
               bool _renameDofs) { self->setAxisOrder(_order, _renameDofs); },
           ::py::arg("order"),
           ::py::arg("renameDofs"))
       .def(
           "getAxisOrder",
           +[](const dart::dynamics::EulerJoint* self)
-              -> dart::dynamics::EulerJoint::AxisOrder {
+              -> dart::dynamics::detail::AxisOrder {
             return self->getAxisOrder();
           })
       .def(
@@ -209,7 +209,7 @@ void EulerJoint(py::module& m)
       .def_static(
           "convertToTransformOf",
           +[](const Eigen::Vector3s& _positions,
-              dart::dynamics::EulerJoint::AxisOrder _ordering,
+              dart::dynamics::detail::AxisOrder _ordering,
               const Eigen::Vector3s& flipAxisMap
               = Eigen::Vector3s::Ones()) -> Eigen::Isometry3s {
             return dart::dynamics::EulerJoint::convertToTransform(
@@ -221,7 +221,7 @@ void EulerJoint(py::module& m)
       .def_static(
           "convertToRotationOf",
           +[](const Eigen::Vector3s& _positions,
-              dart::dynamics::EulerJoint::AxisOrder _ordering,
+              dart::dynamics::detail::AxisOrder _ordering,
               const Eigen::Vector3s& flipAxisMap
               = Eigen::Vector3s::Ones()) -> Eigen::Matrix3s {
             return dart::dynamics::EulerJoint::convertToRotation(

diff --git a/python/_nimblephysics/math/Geometry.cpp b/python/_nimblephysics/math/Geometry.cpp
@@ -301,5 +301,20 @@ void Geometry(py::module& m)
       .def("computeHalfExtents", &dart::math::BoundingBox::computeHalfExtents);
 }
 
+void EulerGeometry(py::module& m)
+{
+  m.def(
+      "roundEulerAnglesToNearest",
+      +[](Eigen::Vector3s angle,
+          Eigen::Vector3s previousAngle,
+          dynamics::detail::AxisOrder axisOrder) -> Eigen::Vector3s {
+        return dart::math::roundEulerAnglesToNearest(
+            angle, previousAngle, axisOrder);
+      },
+      ::py::arg("angle"),
+      ::py::arg("previousAngle"),
+      ::py::arg("axisOrder") = dart::dynamics::detail::AxisOrder::XYZ);
+}
+
 } // namespace python
 } // namespace dart
diff --git a/python/_nimblephysics/math/module.cpp b/python/_nimblephysics/math/module.cpp
@@ -43,7 +43,7 @@ void MultivariateGaussian(py::module& sm);
 void GraphFlowDiscretizer(py::module& sm);
 void PolynomialFitter(py::module& sm);
 
-void dart_math(py::module& m)
+py::module dart_math(py::module& m)
 {
   auto sm = m.def_submodule("math");
 
@@ -52,6 +52,14 @@ void dart_math(py::module& m)
   MultivariateGaussian(sm);
   GraphFlowDiscretizer(sm);
   PolynomialFitter(sm);
+
+  return sm;
+}
+
+void EulerGeometry(py::module& sm);
+void dart_euler_math(py::module& sm)
+{
+  EulerGeometry(sm);
 }
 
 } // namespace python

diff --git a/python/_nimblephysics/nimblephysics.cpp b/python/_nimblephysics/nimblephysics.cpp
@@ -43,7 +43,8 @@ namespace python {
 void eigen_geometry(py::module& m);
 
 void dart_common(py::module& m);
-void dart_math(py::module& m);
+py::module dart_math(py::module& m);
+void dart_euler_math(py::module& m);
 void dart_dynamics(py::module& m);
 void dart_collision(py::module& m);
 void dart_constraint(py::module& m);
@@ -71,9 +72,10 @@ PYBIND11_MODULE(_nimblephysics, m)
   eigen_geometry(m);
 
   dart_common(m);
-  dart_math(m);
+  py::module math_module = dart_math(m);
   dart_performance(m);
   dart_dynamics(m);
+  dart_euler_math(math_module);
   dart_collision(m);
   dart_constraint(m);
   dart_simulation_and_neural(m, neural, withRespectTo);

diff --git a/python/nimblephysics.egg-info/PKG-INFO b/python/nimblephysics.egg-info/PKG-INFO
@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: nimblephysics
-Version: 0.10.45
+Version: 0.10.48
 Summary: A differentiable fully featured physics engine
 Author: Keenon Werling
 Author-email: keenonwerling@gmail.com