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/*********************************************************************
*
* Python wrapper for UR kinematics
* Author: Kelsey Hawkins (kphawkins@gatech.edu)
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2013, Georgia Institute of Technology
* All rights reserved.
*
* 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.
* * Neither the name of the Georgia Institute of Technology nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* 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 OWNER 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.
*********************************************************************/
#include <boost/numpy.hpp>
#include <boost/scoped_array.hpp>
#include <ur_kinematics/ur_kin.h>
namespace p = boost::python;
namespace np = boost::numpy;
np::ndarray forward_wrapper(np::ndarray const & q_arr) {
if(q_arr.get_dtype() != np::dtype::get_builtin<double>()) {
PyErr_SetString(PyExc_TypeError, "Incorrect array data type");
p::throw_error_already_set();
}
if(q_arr.get_nd() != 1) {
PyErr_SetString(PyExc_TypeError, "Incorrect number of dimensions");
p::throw_error_already_set();
}
if(q_arr.shape(0) != 6) {
PyErr_SetString(PyExc_TypeError, "Incorrect shape (should be 6)");
p::throw_error_already_set();
}
Py_intptr_t shape[2] = { 4, 4 };
np::ndarray result = np::zeros(2,shape,np::dtype::get_builtin<double>());
ur_kinematics::forward(reinterpret_cast<double*>(q_arr.get_data()),
reinterpret_cast<double*>(result.get_data()));
return result;
}
np::ndarray inverse_wrapper(np::ndarray const & array, PyObject * q6_des_py) {
if(array.get_dtype() != np::dtype::get_builtin<double>()) {
PyErr_SetString(PyExc_TypeError, "Incorrect array data type");
p::throw_error_already_set();
}
if(array.get_nd() != 2) {
PyErr_SetString(PyExc_TypeError, "Incorrect number of dimensions");
p::throw_error_already_set();
}
if(array.shape(0) != 4 || array.shape(1) != 4) {
PyErr_SetString(PyExc_TypeError, "Incorrect shape (should be 4x4)");
p::throw_error_already_set();
}
double* T = reinterpret_cast<double*>(array.get_data());
double* q_sols = (double*) malloc(8*6*sizeof(double));
double q6_des = PyFloat_AsDouble(q6_des_py);
int num_sols = ur_kinematics::inverse(T, q_sols, q6_des);
q_sols = (double*) realloc(q_sols, num_sols*6*sizeof(double));
return np::from_data(q_sols, np::dtype::get_builtin<double>() , p::make_tuple(num_sols, 6), p::make_tuple(6*sizeof(double), sizeof(double)), p::object());
}
BOOST_PYTHON_MODULE(ur_kin_py) {
np::initialize(); // have to put this in any module that uses Boost.NumPy
p::def("forward", forward_wrapper);
p::def("inverse", inverse_wrapper);
}