PyKinematicsInterface.hpp

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#include <memory>
#include <Eigen/Eigen>

#include <momentumopt/kinopt/KinematicsInterface.hpp>

namespace momentumopt {

  class PyKinematicsInterface : public KinematicsInterface
  {
    public:
      using KinematicsInterface::KinematicsInterface;

      // trampoline for pure virtual functions
      void initialize(PlannerSetting& planner_setting) override
      {
        PYBIND11_OVERLOAD_PURE(
          void,
          KinematicsInterface,
          initialize,
          planner_setting
        );
      }

      void displayPosture(const KinematicsState& kin_state, double time_step) override
      {
        PYBIND11_OVERLOAD_PURE(
          void,
          KinematicsInterface,
          displayPosture,
          kin_state,
          time_step
        );
      }

      KinematicsState updateJacobiansAndState(KinematicsState& kin_state, double dt) override
      {
        PYBIND11_OVERLOAD_PURE(
          KinematicsState,
          KinematicsInterface,
          updateJacobiansAndState,
          kin_state,
          dt
        );
      }

      KinematicsState integratePosture(KinematicsState& kin_state, double dt) override
      {
        PYBIND11_OVERLOAD_PURE(
          KinematicsState,
          KinematicsInterface,
          integratePosture,
          kin_state,
          dt
        );
      }

      KinematicsState differentiatePostures(KinematicsState& start_state, KinematicsState& end_state, double timestep) override
      {
        PYBIND11_OVERLOAD_PURE(
          KinematicsState,
          KinematicsInterface,
          differentiatePostures,
          start_state,
          end_state,
          timestep
        );
      }

      Eigen::Vector3d logarithmicMap(const Eigen::Vector4d quat_wxyz) override
      {
        PYBIND11_OVERLOAD_PURE(
          Eigen::Vector3d,
          KinematicsInterface,
          logarithmicMap,
          quat_wxyz
        );
      }
  };

}