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tree_py.cc
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#include "pybind11/eigen.h"
#include "pybind11/eval.h"
#include "pybind11/operators.h"
#include "pybind11/pybind11.h"
#include "pybind11/stl.h"
#include "drake/bindings/pydrake/common/cpp_template_pybind.h"
#include "drake/bindings/pydrake/common/default_scalars_pybind.h"
#include "drake/bindings/pydrake/common/deprecation_pybind.h"
#include "drake/bindings/pydrake/common/eigen_pybind.h"
#include "drake/bindings/pydrake/common/type_pack.h"
#include "drake/bindings/pydrake/common/type_safe_index_pybind.h"
#include "drake/bindings/pydrake/documentation_pybind.h"
#include "drake/bindings/pydrake/pydrake_pybind.h"
#include "drake/multibody/plant/multibody_plant.h"
#include "drake/multibody/tree/ball_rpy_joint.h"
#include "drake/multibody/tree/body.h"
#include "drake/multibody/tree/door_hinge.h"
#include "drake/multibody/tree/force_element.h"
#include "drake/multibody/tree/frame.h"
#include "drake/multibody/tree/joint.h"
#include "drake/multibody/tree/joint_actuator.h"
#include "drake/multibody/tree/linear_bushing_roll_pitch_yaw.h"
#include "drake/multibody/tree/linear_spring_damper.h"
#include "drake/multibody/tree/multibody_forces.h"
#include "drake/multibody/tree/multibody_tree.h" // `JacobianWrtVariable`
#include "drake/multibody/tree/multibody_tree_indexes.h"
#include "drake/multibody/tree/planar_joint.h"
#include "drake/multibody/tree/prismatic_joint.h"
#include "drake/multibody/tree/revolute_joint.h"
#include "drake/multibody/tree/revolute_spring.h"
#include "drake/multibody/tree/rigid_body.h"
#include "drake/multibody/tree/universal_joint.h"
#include "drake/multibody/tree/weld_joint.h"
namespace drake {
namespace pydrake {
using Eigen::Vector3d;
using std::string;
using math::RigidTransform;
using multibody::SpatialAcceleration;
using multibody::SpatialVelocity;
namespace {
// Negative case for checking T::name().
// https://stackoverflow.com/a/16000226/7829525
template <typename T, typename = void>
struct has_name_func : std::false_type {};
// Positive case for checking T::name().
template <typename T>
struct has_name_func<T, decltype(std::declval<T>().name(), void())>
: std::true_type {};
// Binds `MultibodyElement` methods.
// N.B. We do this rather than inheritance because this template is more of a
// mixin than it is a parent class (since it is not used for its dynamic
// polymorphism).
// TODO(jamiesnape): Add documentation for bindings generated with this
// function.
template <typename T, typename PyClass>
void BindMultibodyElementMixin(PyClass* pcls) {
using Class = typename PyClass::type;
// TODO(eric.cousineau): Fix docstring generation for `MultibodyElement`.
auto& cls = *pcls;
cls // BR
.def("index", &Class::index)
.def("model_instance", &Class::model_instance)
.def("GetParentPlant",
[](const Class& self) -> const multibody::MultibodyPlant<T>& {
return self.GetParentPlant();
})
.def("__repr__", [](const Class& self) {
py::str cls_name = py::cast(&self).get_type().attr("__name__");
const int index = self.index();
const int model_instance = self.model_instance();
if constexpr (has_name_func<Class>::value) {
return py::str("<{} name='{}' index={} model_instance={}>")
.format(cls_name, self.name(), index, model_instance);
} else {
return py::str("<{} index={} model_instance={}>")
.format(cls_name, index, model_instance);
}
});
}
void DoScalarIndependentDefinitions(py::module m) {
// NOLINTNEXTLINE(build/namespaces): Emulate placement in namespace.
using namespace drake::multibody;
constexpr auto& doc = pydrake_doc.drake.multibody;
// To simplify checking binding coverage, these are defined in the same order
// as `multibody_tree_indexes.h`.
BindTypeSafeIndex<FrameIndex>(m, "FrameIndex", doc.FrameIndex.doc);
BindTypeSafeIndex<BodyIndex>(m, "BodyIndex", doc.BodyIndex.doc);
BindTypeSafeIndex<ForceElementIndex>(
m, "ForceElementIndex", doc.ForceElementIndex.doc);
BindTypeSafeIndex<JointIndex>(m, "JointIndex", doc.JointIndex.doc);
BindTypeSafeIndex<JointActuatorIndex>(
m, "JointActuatorIndex", doc.JointActuatorIndex.doc);
BindTypeSafeIndex<ModelInstanceIndex>(
m, "ModelInstanceIndex", doc.ModelInstanceIndex.doc);
m.def("world_index", &world_index, doc.world_index.doc);
m.def("world_model_instance", &world_model_instance,
doc.world_model_instance.doc);
m.def("default_model_instance", &default_model_instance,
doc.default_model_instance.doc);
{
using Class = DoorHingeConfig;
constexpr auto& cls_doc = doc.DoorHingeConfig;
py::class_<Class>(m, "DoorHingeConfig", cls_doc.doc)
.def(ParamInit<Class>(), cls_doc.ctor.doc)
.def_readwrite("spring_zero_angle_rad", &Class::spring_zero_angle_rad,
cls_doc.spring_zero_angle_rad.doc)
.def_readwrite("spring_constant", &Class::spring_constant,
cls_doc.spring_constant.doc)
.def_readwrite("dynamic_friction_torque",
&Class::dynamic_friction_torque,
cls_doc.dynamic_friction_torque.doc)
.def_readwrite("static_friction_torque", &Class::static_friction_torque,
cls_doc.static_friction_torque.doc)
.def_readwrite("viscous_friction", &Class::viscous_friction,
cls_doc.viscous_friction.doc)
.def_readwrite(
"catch_width", &Class::catch_width, cls_doc.catch_width.doc)
.def_readwrite(
"catch_torque", &Class::catch_torque, cls_doc.catch_torque.doc)
.def_readwrite("motion_threshold", &Class::motion_threshold,
cls_doc.motion_threshold.doc);
}
{
using Enum = JacobianWrtVariable;
constexpr auto& enum_doc = doc.JacobianWrtVariable;
py::enum_<Enum> enum_py(m, "JacobianWrtVariable", enum_doc.doc);
enum_py // BR
.value("kQDot", Enum::kQDot, enum_doc.kQDot.doc)
.value("kV", Enum::kV, enum_doc.kV.doc);
}
}
/**
* Adds Python bindings for its contents to module `m`, for template `T`.
* @param m Module.
* @param T Template.
*/
template <typename T>
void DoScalarDependentDefinitions(py::module m, T) {
py::tuple param = GetPyParam<T>();
// NOLINTNEXTLINE(build/namespaces): Emulate placement in namespace.
using namespace drake::multibody;
constexpr auto& doc = pydrake_doc.drake.multibody;
// Frames.
{
using Class = Frame<T>;
constexpr auto& cls_doc = doc.Frame;
auto cls =
DefineTemplateClassWithDefault<Class>(m, "Frame", param, cls_doc.doc);
BindMultibodyElementMixin<T>(&cls);
cls // BR
.def("body", &Class::body, py_rvp::reference_internal, cls_doc.body.doc)
.def("is_world_frame", &Class::is_world_frame,
cls_doc.is_world_frame.doc)
.def("is_body_frame", &Class::is_body_frame, cls_doc.is_body_frame.doc)
.def("name", &Class::name, cls_doc.name.doc)
.def("GetFixedPoseInBodyFrame", &Frame<T>::GetFixedPoseInBodyFrame,
cls_doc.GetFixedPoseInBodyFrame.doc)
.def("CalcPoseInBodyFrame", &Frame<T>::CalcPoseInBodyFrame,
py::arg("context"), cls_doc.CalcPoseInBodyFrame.doc)
.def("CalcRotationMatrixInBodyFrame",
&Frame<T>::CalcRotationMatrixInBodyFrame, py::arg("context"),
cls_doc.CalcRotationMatrixInBodyFrame.doc)
.def("GetFixedPoseInBodyFrame", &Class::GetFixedPoseInBodyFrame,
cls_doc.GetFixedPoseInBodyFrame.doc)
.def("GetFixedRotationMatrixInBodyFrame",
&Class::GetFixedRotationMatrixInBodyFrame,
cls_doc.GetFixedRotationMatrixInBodyFrame.doc)
.def("CalcOffsetPoseInBody", &Class::CalcOffsetPoseInBody,
py::arg("context"), py::arg("X_FQ"),
cls_doc.CalcOffsetPoseInBody.doc)
.def("CalcOffsetRotationMatrixInBody",
&Class::CalcOffsetRotationMatrixInBody, py::arg("context"),
py::arg("R_FQ"), cls_doc.CalcOffsetRotationMatrixInBody.doc)
.def("GetFixedOffsetPoseInBody", &Class::GetFixedOffsetPoseInBody,
py::arg("X_FQ"), cls_doc.GetFixedOffsetPoseInBody.doc)
.def("GetFixedRotationMatrixInBody",
&Class::GetFixedRotationMatrixInBody, py::arg("R_FQ"),
cls_doc.GetFixedRotationMatrixInBody.doc)
.def("CalcPoseInWorld", &Class::CalcPoseInWorld, py::arg("context"),
cls_doc.CalcPoseInWorld.doc)
.def("CalcPose", &Class::CalcPose, py::arg("context"),
py::arg("frame_M"), cls_doc.CalcPose.doc)
.def("CalcRotationMatrix", &Class::CalcRotationMatrix,
py::arg("context"), py::arg("frame_M"),
cls_doc.CalcRotationMatrix.doc)
.def("CalcRotationMatrixInWorld", &Class::CalcRotationMatrixInWorld,
py::arg("context"), cls_doc.CalcRotationMatrixInWorld.doc)
.def("EvalAngularVelocityInWorld", &Class::EvalAngularVelocityInWorld,
py::arg("context"), cls_doc.EvalAngularVelocityInWorld.doc)
.def("CalcAngularVelocity", &Class::CalcAngularVelocity,
py::arg("context"), py::arg("measured_in_frame"),
py::arg("expressed_in_frame"), cls_doc.CalcAngularVelocity.doc)
.def("CalcSpatialVelocityInWorld", &Class::CalcSpatialVelocityInWorld,
py::arg("context"), cls_doc.CalcSpatialVelocityInWorld.doc)
.def("CalcSpatialVelocity", &Class::CalcSpatialVelocity,
py::arg("context"), py::arg("frame_M"), py::arg("frame_E"),
cls_doc.CalcSpatialVelocity.doc)
.def("CalcRelativeSpatialVelocityInWorld",
&Class::CalcRelativeSpatialVelocityInWorld, py::arg("context"),
py::arg("other_frame"),
cls_doc.CalcRelativeSpatialVelocityInWorld.doc)
.def("CalcRelativeSpatialVelocity", &Class::CalcRelativeSpatialVelocity,
py::arg("context"), py::arg("other_frame"),
py::arg("measured_in_frame"), py::arg("expressed_in_frame"),
cls_doc.CalcRelativeSpatialVelocity.doc)
.def("CalcSpatialAccelerationInWorld",
&Class::CalcSpatialAccelerationInWorld, py::arg("context"),
cls_doc.CalcSpatialAccelerationInWorld.doc)
.def("CalcSpatialAcceleration", &Class::CalcSpatialAcceleration,
py::arg("context"), py::arg("measured_in_frame"),
py::arg("expressed_in_frame"), cls_doc.CalcSpatialAcceleration.doc)
.def("CalcRelativeSpatialAccelerationInWorld",
&Class::CalcRelativeSpatialAccelerationInWorld, py::arg("context"),
py::arg("other_frame"),
cls_doc.CalcRelativeSpatialAccelerationInWorld.doc)
.def("CalcRelativeSpatialAcceleration",
&Class::CalcRelativeSpatialAcceleration, py::arg("context"),
py::arg("other_frame"), py::arg("measured_in_frame"),
py::arg("expressed_in_frame"),
cls_doc.CalcRelativeSpatialAcceleration.doc);
}
{
using Class = BodyFrame<T>;
constexpr auto& cls_doc = doc.BodyFrame;
auto cls = DefineTemplateClassWithDefault<Class, Frame<T>>(
m, "BodyFrame", param, cls_doc.doc);
// No need to re-bind element mixins from `Frame`.
}
{
using Class = FixedOffsetFrame<T>;
constexpr auto& cls_doc = doc.FixedOffsetFrame;
auto cls = DefineTemplateClassWithDefault<Class, Frame<T>>(
m, "FixedOffsetFrame", param, cls_doc.doc);
cls // BR
.def(py::init<const std::string&, const Frame<T>&,
const RigidTransform<double>&,
std::optional<ModelInstanceIndex>>(),
py::arg("name"), py::arg("P"), py::arg("X_PF"),
py::arg("model_instance") = std::nullopt, cls_doc.ctor.doc_4args)
.def(py::init<const Frame<T>&, const math::RigidTransform<double>&>(),
py::arg("P"), py::arg("X_PF"), cls_doc.ctor.doc_2args)
.def(py::init<const std::string&, const Body<T>&,
const math::RigidTransform<double>&>(),
py::arg("name"), py::arg("bodyB"), py::arg("X_BF"),
cls_doc.ctor.doc_3args)
.def(py::init<const Body<T>&, const math::RigidTransform<double>&>(),
py::arg("bodyB"), py::arg("X_BF"), cls_doc.ctor.doc_2args)
.def("SetPoseInBodyFrame", &Class::SetPoseInBodyFrame,
py::arg("context"), py::arg("X_PF"),
cls_doc.SetPoseInBodyFrame.doc);
}
// Bodies.
{
using Class = Body<T>;
constexpr auto& cls_doc = doc.Body;
auto cls =
DefineTemplateClassWithDefault<Class>(m, "Body", param, cls_doc.doc);
BindMultibodyElementMixin<T>(&cls);
cls // BR
.def("name", &Class::name, cls_doc.name.doc)
.def("get_num_flexible_positions", &Class::get_num_flexible_positions,
cls_doc.get_num_flexible_positions.doc)
.def("get_num_flexible_velocities", &Class::get_num_flexible_velocities,
cls_doc.get_num_flexible_velocities.doc)
.def("body_frame", &Class::body_frame, py_rvp::reference_internal,
cls_doc.body_frame.doc)
.def("is_floating", &Class::is_floating, cls_doc.is_floating.doc)
.def("has_quaternion_dofs", &Class::has_quaternion_dofs,
cls_doc.has_quaternion_dofs.doc)
.def("floating_positions_start", &Class::floating_positions_start,
cls_doc.floating_positions_start.doc)
.def("floating_velocities_start", &Class::floating_velocities_start,
cls_doc.floating_velocities_start.doc)
.def("floating_position_suffix", &Class::floating_position_suffix,
cls_doc.floating_position_suffix.doc)
.def("floating_velocity_suffix", &Class::floating_velocity_suffix,
cls_doc.floating_velocity_suffix.doc)
.def("default_mass", &Class::default_mass, cls_doc.default_mass.doc);
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
cls.def("get_default_mass",
WrapDeprecated(
cls_doc.get_default_mass.doc_deprecated, &Class::get_default_mass),
cls_doc.get_default_mass.doc_deprecated);
#pragma GCC diagnostic pop // pop -Wdeprecated-declarations
cls // BR
.def("get_mass", &Class::get_mass, py::arg("context"),
cls_doc.get_mass.doc)
.def("CalcCenterOfMassInBodyFrame", &Class::CalcCenterOfMassInBodyFrame,
py::arg("context"), cls_doc.CalcCenterOfMassInBodyFrame.doc)
.def("CalcSpatialInertiaInBodyFrame",
&Class::CalcSpatialInertiaInBodyFrame, py::arg("context"),
cls_doc.CalcSpatialInertiaInBodyFrame.doc)
.def("EvalPoseInWorld", &Class::EvalPoseInWorld, py::arg("context"),
cls_doc.EvalPoseInWorld.doc)
.def("EvalSpatialVelocityInWorld", &Class::EvalSpatialVelocityInWorld,
py::arg("context"), cls_doc.EvalSpatialVelocityInWorld.doc)
.def("EvalSpatialAccelerationInWorld",
&Class::EvalSpatialAccelerationInWorld, py::arg("context"),
cls_doc.EvalSpatialAccelerationInWorld.doc)
.def("GetForceInWorld", &Class::GetForceInWorld, py::arg("context"),
py::arg("forces"), cls_doc.GetForceInWorld.doc)
.def("AddInForceInWorld", &Class::AddInForceInWorld, py::arg("context"),
py::arg("F_Bo_W"), py::arg("forces"), cls_doc.AddInForceInWorld.doc)
.def("AddInForce", &Class::AddInForce, py::arg("context"),
py::arg("p_BP_E"), py::arg("F_Bp_E"), py::arg("frame_E"),
py::arg("forces"), cls_doc.AddInForce.doc)
.def("Lock", &Class::Lock, py::arg("context"), cls_doc.Lock.doc)
.def("Unlock", &Class::Unlock, py::arg("context"), cls_doc.Unlock.doc)
.def("is_locked", &Class::is_locked, py::arg("context"),
cls_doc.is_locked.doc);
}
{
using Class = RigidBody<T>;
constexpr auto& cls_doc = doc.RigidBody;
auto cls = DefineTemplateClassWithDefault<Class, Body<T>>(
m, "RigidBody", param, cls_doc.doc);
cls // BR
.def(py::init<const SpatialInertia<double>&>(), py::arg("M_BBo_B"),
cls_doc.ctor.doc_1args)
.def(py::init<const std::string&, const SpatialInertia<double>&>(),
py::arg("body_name"), py::arg("M_BBo_B"), cls_doc.ctor.doc_2args)
.def(py::init<const std::string&, ModelInstanceIndex,
const SpatialInertia<double>&>(),
py::arg("body_name"), py::arg("model_instance"), py::arg("M_BBo_B"),
cls_doc.ctor.doc_3args)
.def("default_mass", &Class::default_mass, cls_doc.default_mass.doc)
.def("default_com", &Class::default_com, py_rvp::reference_internal,
cls_doc.default_com.doc)
.def("default_unit_inertia", &Class::default_unit_inertia,
py_rvp::reference_internal, cls_doc.default_unit_inertia.doc)
.def("default_rotational_inertia", &Class::default_rotational_inertia,
py_rvp::reference_internal, cls_doc.default_rotational_inertia.doc)
.def("default_spatial_inertia", &Class::default_spatial_inertia,
py_rvp::reference_internal, cls_doc.default_spatial_inertia.doc)
.def("SetMass", &Class::SetMass, py::arg("context"), py::arg("mass"),
cls_doc.SetMass.doc)
.def("SetCenterOfMassInBodyFrame", &Class::SetCenterOfMassInBodyFrame,
py::arg("context"), py::arg("com"),
cls_doc.SetCenterOfMassInBodyFrame.doc)
.def("SetSpatialInertiaInBodyFrame",
&Class::SetSpatialInertiaInBodyFrame, py::arg("context"),
py::arg("M_Bo_B"), cls_doc.SetSpatialInertiaInBodyFrame.doc);
}
// Joints.
{
using Class = Joint<T>;
constexpr auto& cls_doc = doc.Joint;
auto cls =
DefineTemplateClassWithDefault<Class>(m, "Joint", param, cls_doc.doc);
BindMultibodyElementMixin<T>(&cls);
cls // BR
.def("name", &Class::name, cls_doc.name.doc)
.def("parent_body", &Class::parent_body, py_rvp::reference_internal,
cls_doc.parent_body.doc)
.def("child_body", &Class::child_body, py_rvp::reference_internal,
cls_doc.child_body.doc)
.def("frame_on_parent", &Class::frame_on_parent,
py_rvp::reference_internal, cls_doc.frame_on_parent.doc)
.def("frame_on_child", &Class::frame_on_child,
py_rvp::reference_internal, cls_doc.frame_on_child.doc)
.def("type_name", &Class::type_name, cls_doc.type_name.doc)
.def("position_start", &Class::position_start,
cls_doc.position_start.doc)
.def("velocity_start", &Class::velocity_start,
cls_doc.velocity_start.doc)
.def("num_positions", &Class::num_positions, cls_doc.num_positions.doc)
.def("num_velocities", &Class::num_velocities,
cls_doc.num_velocities.doc)
.def("position_suffix", &Class::position_suffix,
cls_doc.position_suffix.doc)
.def("velocity_suffix", &Class::velocity_suffix,
cls_doc.velocity_suffix.doc)
.def("GetOnePosition", &Class::GetOnePosition, py::arg("context"),
cls_doc.GetOnePosition.doc)
.def("GetOneVelocity", &Class::GetOneVelocity, py::arg("context"),
cls_doc.GetOneVelocity.doc)
.def("AddInOneForce", &Class::AddInOneForce, py::arg("context"),
py::arg("joint_dof"), py::arg("joint_tau"), py::arg("forces"),
cls_doc.AddInOneForce.doc)
.def("AddInDamping", &Class::AddInDamping, py::arg("context"),
py::arg("forces"), cls_doc.AddInDamping.doc)
.def("position_lower_limits", &Class::position_lower_limits,
cls_doc.position_lower_limits.doc)
.def("position_upper_limits", &Class::position_upper_limits,
cls_doc.position_upper_limits.doc)
.def("velocity_lower_limits", &Class::velocity_lower_limits,
cls_doc.velocity_lower_limits.doc)
.def("velocity_upper_limits", &Class::velocity_upper_limits,
cls_doc.velocity_upper_limits.doc)
.def("acceleration_lower_limits", &Class::acceleration_lower_limits,
cls_doc.acceleration_lower_limits.doc)
.def("acceleration_upper_limits", &Class::acceleration_upper_limits,
cls_doc.acceleration_upper_limits.doc)
.def("default_positions", &Class::default_positions,
cls_doc.default_positions.doc)
.def("set_position_limits", &Class::set_position_limits,
py::arg("lower_limits"), py::arg("upper_limits"),
cls_doc.set_position_limits.doc)
.def("set_velocity_limits", &Class::set_velocity_limits,
py::arg("lower_limits"), py::arg("upper_limits"),
cls_doc.set_velocity_limits.doc)
.def("set_acceleration_limits", &Class::set_acceleration_limits,
py::arg("lower_limits"), py::arg("upper_limits"),
cls_doc.set_acceleration_limits.doc)
.def("set_default_positions", &Class::set_default_positions,
py::arg("default_positions"), cls_doc.set_default_positions.doc)
.def("Lock", &Class::Lock, py::arg("context"), cls_doc.Lock.doc)
.def("Unlock", &Class::Unlock, py::arg("context"), cls_doc.Unlock.doc)
.def("is_locked", &Class::is_locked, py::arg("context"),
cls_doc.is_locked.doc);
}
// BallRpyJoint
{
using Class = BallRpyJoint<T>;
constexpr auto& cls_doc = doc.BallRpyJoint;
auto cls = DefineTemplateClassWithDefault<Class, Joint<T>>(
m, "BallRpyJoint", param, cls_doc.doc);
cls // BR
.def(
py::init<const string&, const Frame<T>&, const Frame<T>&, double>(),
py::arg("name"), py::arg("frame_on_parent"),
py::arg("frame_on_child"), py::arg("damping") = 0, cls_doc.ctor.doc)
.def("damping", &Class::damping, cls_doc.damping.doc)
.def("get_angles", &Class::get_angles, py::arg("context"),
cls_doc.get_angles.doc)
.def("set_angles", &Class::set_angles, py::arg("context"),
py::arg("angles"), cls_doc.set_angles.doc)
.def("set_random_angles_distribution",
&Class::set_random_angles_distribution, py::arg("angles"),
cls_doc.set_random_angles_distribution.doc)
.def("get_angular_velocity", &Class::get_angular_velocity,
py::arg("context"), cls_doc.get_angular_velocity.doc)
.def("set_angular_velocity", &Class::set_angular_velocity,
py::arg("context"), py::arg("w_FM"),
cls_doc.set_angular_velocity.doc)
.def("get_default_angles", &Class::get_default_angles,
cls_doc.get_default_angles.doc)
.def("set_default_angles", &Class::set_default_angles,
py::arg("angles"), cls_doc.set_default_angles.doc);
}
// PlanarJoint
{
using Class = PlanarJoint<T>;
constexpr auto& cls_doc = doc.PlanarJoint;
auto cls = DefineTemplateClassWithDefault<Class, Joint<T>>(
m, "PlanarJoint", param, cls_doc.doc);
cls // BR
.def(py::init<const string&, const Frame<T>&, const Frame<T>&,
Vector3<double>>(),
py::arg("name"), py::arg("frame_on_parent"),
py::arg("frame_on_child"),
py::arg("damping") = Vector3<double>::Zero(), cls_doc.ctor.doc)
.def("damping", &Class::damping, cls_doc.damping.doc)
.def("get_translation", &Class::get_translation, py::arg("context"),
cls_doc.get_translation.doc)
.def("set_translation", &Class::set_translation, py::arg("context"),
py::arg("p_FoMo_F"), cls_doc.set_translation.doc)
.def("get_rotation", &Class::get_rotation, py::arg("context"),
cls_doc.get_rotation.doc)
.def("set_rotation", &Class::set_rotation, py::arg("context"),
py::arg("theta"), cls_doc.set_rotation.doc)
.def("set_pose", &Class::set_pose, py::arg("context"),
py::arg("p_FoMo_F"), py::arg("theta"), cls_doc.set_pose.doc)
.def("get_translational_velocity", &Class::get_translational_velocity,
py::arg("context"), cls_doc.get_translational_velocity.doc)
.def("set_translational_velocity", &Class::set_translational_velocity,
py::arg("context"), py::arg("v_FoMo_F"),
cls_doc.set_translational_velocity.doc)
.def("get_angular_velocity", &Class::get_angular_velocity,
py::arg("context"), cls_doc.get_angular_velocity.doc)
.def("set_angular_velocity", &Class::set_angular_velocity,
py::arg("context"), py::arg("theta_dot"),
cls_doc.set_angular_velocity.doc)
.def("get_default_translation", &Class::get_default_translation,
cls_doc.get_default_translation.doc)
.def("set_default_translation", &Class::set_default_translation,
py::arg("p_FoMo_F"), cls_doc.set_default_translation.doc)
.def("get_default_rotation", &Class::get_default_rotation,
cls_doc.get_default_rotation.doc)
.def("set_default_rotation", &Class::set_default_rotation,
py::arg("theta"), cls_doc.set_default_rotation.doc)
.def("set_default_pose", &Class::set_default_pose, py::arg("p_FoMo_F"),
py::arg("theta"), cls_doc.set_default_pose.doc)
.def("set_random_pose_distribution",
&Class::set_random_pose_distribution, py::arg("p_FoMo_F"),
py::arg("theta"), cls_doc.set_random_pose_distribution.doc);
}
// PrismaticJoint
{
using Class = PrismaticJoint<T>;
constexpr auto& cls_doc = doc.PrismaticJoint;
auto cls = DefineTemplateClassWithDefault<Class, Joint<T>>(
m, "PrismaticJoint", param, cls_doc.doc);
cls // BR
.def(py::init<const string&, const Frame<T>&, const Frame<T>&,
const Vector3<double>&, double, double, double>(),
py::arg("name"), py::arg("frame_on_parent"),
py::arg("frame_on_child"), py::arg("axis"),
py::arg("pos_lower_limit") =
-std::numeric_limits<double>::infinity(),
py::arg("pos_upper_limit") =
std::numeric_limits<double>::infinity(),
py::arg("damping") = 0, cls_doc.ctor.doc)
.def("translation_axis", &Class::translation_axis,
cls_doc.translation_axis.doc)
.def("damping", &Class::damping, cls_doc.damping.doc)
.def("position_lower_limit", &Class::position_lower_limit,
cls_doc.position_lower_limit.doc)
.def("position_upper_limit", &Class::position_upper_limit,
cls_doc.position_upper_limit.doc)
.def("velocity_lower_limit", &Class::velocity_lower_limit,
cls_doc.velocity_lower_limit.doc)
.def("velocity_upper_limit", &Class::velocity_upper_limit,
cls_doc.velocity_upper_limit.doc)
.def("acceleration_lower_limit", &Class::acceleration_lower_limit,
cls_doc.acceleration_lower_limit.doc)
.def("acceleration_upper_limit", &Class::acceleration_upper_limit,
cls_doc.acceleration_upper_limit.doc)
.def("get_translation", &Class::get_translation, py::arg("context"),
cls_doc.get_translation.doc)
.def("set_translation", &Class::set_translation, py::arg("context"),
py::arg("translation"), cls_doc.set_translation.doc)
.def("get_translation_rate", &Class::get_translation_rate,
py::arg("context"), cls_doc.get_translation_rate.doc)
.def("set_translation_rate", &Class::set_translation_rate,
py::arg("context"), py::arg("translation_dot"),
cls_doc.set_translation_rate.doc)
.def("get_default_translation", &Class::get_default_translation,
cls_doc.get_default_translation.doc)
.def("set_default_translation", &Class::set_default_translation,
py::arg("translation"), cls_doc.set_default_translation.doc)
.def("set_random_translation_distribution",
&Class::set_random_translation_distribution, py::arg("translation"),
cls_doc.set_random_translation_distribution.doc);
}
// RevoluteJoint
{
using Class = RevoluteJoint<T>;
constexpr auto& cls_doc = doc.RevoluteJoint;
auto cls = DefineTemplateClassWithDefault<Class, Joint<T>>(
m, "RevoluteJoint", param, cls_doc.doc);
cls // BR
.def(py::init<const string&, const Frame<T>&, const Frame<T>&,
const Vector3<double>&, double>(),
py::arg("name"), py::arg("frame_on_parent"),
py::arg("frame_on_child"), py::arg("axis"), py::arg("damping") = 0,
cls_doc.ctor.doc_5args)
.def(py::init<const std::string&, const Frame<T>&, const Frame<T>&,
const Vector3<double>&, double, double, double>(),
py::arg("name"), py::arg("frame_on_parent"),
py::arg("frame_on_child"), py::arg("axis"),
py::arg("pos_lower_limit"), py::arg("pos_upper_limit"),
py::arg("damping") = 0.0, cls_doc.ctor.doc_7args)
.def("revolute_axis", &Class::revolute_axis, cls_doc.revolute_axis.doc)
.def("damping", &Class::damping, cls_doc.damping.doc)
.def("position_lower_limit", &Class::position_lower_limit,
cls_doc.position_lower_limit.doc)
.def("position_upper_limit", &Class::position_upper_limit,
cls_doc.position_upper_limit.doc)
.def("velocity_lower_limit", &Class::velocity_lower_limit,
cls_doc.velocity_lower_limit.doc)
.def("velocity_upper_limit", &Class::velocity_upper_limit,
cls_doc.velocity_upper_limit.doc)
.def("acceleration_lower_limit", &Class::acceleration_lower_limit,
cls_doc.acceleration_lower_limit.doc)
.def("acceleration_upper_limit", &Class::acceleration_upper_limit,
cls_doc.acceleration_upper_limit.doc)
.def("get_angle", &Class::get_angle, py::arg("context"),
cls_doc.get_angle.doc)
.def("set_angle", &Class::set_angle, py::arg("context"),
py::arg("angle"), cls_doc.set_angle.doc)
.def("set_random_angle_distribution",
&Class::set_random_angle_distribution, py::arg("angle"),
cls_doc.set_random_angle_distribution.doc)
.def("get_angular_rate", &Class::get_angular_rate, py::arg("context"),
cls_doc.get_angular_rate.doc)
.def("set_angular_rate", &Class::set_angular_rate, py::arg("context"),
py::arg("angle"), cls_doc.set_angular_rate.doc)
.def("get_default_angle", &Class::get_default_angle,
cls_doc.get_default_angle.doc)
.def("set_default_angle", &Class::set_default_angle, py::arg("angle"),
cls_doc.set_default_angle.doc);
}
// UniversalJoint
{
using Class = UniversalJoint<T>;
constexpr auto& cls_doc = doc.UniversalJoint;
auto cls = DefineTemplateClassWithDefault<Class, Joint<T>>(
m, "UniversalJoint", param, cls_doc.doc);
cls // BR
.def(
py::init<const string&, const Frame<T>&, const Frame<T>&, double>(),
py::arg("name"), py::arg("frame_on_parent"),
py::arg("frame_on_child"), py::arg("damping") = 0, cls_doc.ctor.doc)
.def("damping", &Class::damping, cls_doc.damping.doc)
.def("get_angles", &Class::get_angles, py::arg("context"),
cls_doc.get_angles.doc)
.def("set_angles", &Class::set_angles, py::arg("context"),
py::arg("angles"), cls_doc.set_angles.doc)
.def("get_angular_rates", &Class::get_angular_rates, py::arg("context"),
cls_doc.get_angular_rates.doc)
.def("set_angular_rates", &Class::set_angular_rates, py::arg("context"),
py::arg("theta_dot"), cls_doc.set_angular_rates.doc)
.def("get_default_angles", &Class::get_default_angles,
cls_doc.get_default_angles.doc)
.def("set_default_angles", &Class::set_default_angles,
py::arg("angles"), cls_doc.set_default_angles.doc)
.def("set_random_angles_distribution",
&Class::set_random_angles_distribution, py::arg("angles"),
cls_doc.set_random_angles_distribution.doc);
}
// WeldJoint
{
using Class = WeldJoint<T>;
constexpr auto& cls_doc = doc.WeldJoint;
auto cls = DefineTemplateClassWithDefault<Class, Joint<T>>(
m, "WeldJoint", param, cls_doc.doc);
cls // BR
.def(py::init<const string&, const Frame<T>&, const Frame<T>&,
const RigidTransform<double>&>(),
py::arg("name"), py::arg("frame_on_parent_P"),
py::arg("frame_on_child_C"), py::arg("X_PC"), cls_doc.ctor.doc)
.def("X_PC", &Class::X_PC, cls_doc.X_PC.doc);
}
// Actuators.
{
using Class = JointActuator<T>;
constexpr auto& cls_doc = doc.JointActuator;
auto cls = DefineTemplateClassWithDefault<Class>(
m, "JointActuator", param, cls_doc.doc);
BindMultibodyElementMixin<T>(&cls);
cls // BR
.def("name", &Class::name, cls_doc.name.doc)
.def("joint", &Class::joint, py_rvp::reference_internal,
cls_doc.joint.doc)
.def(
"get_actuation_vector",
[](const Class& self, const VectorX<T>& u) -> VectorX<T> {
return self.get_actuation_vector(u);
},
py::arg("u"), cls_doc.get_actuation_vector.doc)
.def("set_actuation_vector", &Class::set_actuation_vector,
py::arg("u_instance"), py::arg("u"),
cls_doc.set_actuation_vector.doc)
.def("input_start", &Class::input_start, cls_doc.input_start.doc)
.def("num_inputs", &Class::num_inputs, cls_doc.num_inputs.doc)
.def("effort_limit", &Class::effort_limit, cls_doc.effort_limit.doc);
}
// Force Elements.
{
using Class = ForceElement<T>;
constexpr auto& cls_doc = doc.ForceElement;
auto cls = DefineTemplateClassWithDefault<Class>(
m, "ForceElement", param, cls_doc.doc);
BindMultibodyElementMixin<T>(&cls);
}
{
using Class = LinearSpringDamper<T>;
constexpr auto& cls_doc = doc.LinearSpringDamper;
auto cls = DefineTemplateClassWithDefault<Class, ForceElement<T>>(
m, "LinearSpringDamper", param, cls_doc.doc);
cls // BR
.def(py::init<const Body<T>&, const Vector3<double>&, const Body<T>&,
const Vector3<double>&, double, double, double>(),
py::arg("bodyA"), py::arg("p_AP"), py::arg("bodyB"),
py::arg("p_BQ"), py::arg("free_length"), py::arg("stiffness"),
py::arg("damping"), cls_doc.ctor.doc)
.def("bodyA", &Class::bodyA, py_rvp::reference_internal,
cls_doc.bodyA.doc)
.def("bodyB", &Class::bodyB, py_rvp::reference_internal,
cls_doc.bodyB.doc)
.def("p_AP", &Class::p_AP, cls_doc.p_AP.doc)
.def("p_BQ", &Class::p_BQ, cls_doc.p_BQ.doc)
.def("free_length", &Class::free_length, cls_doc.free_length.doc)
.def("stiffness", &Class::stiffness, cls_doc.stiffness.doc)
.def("damping", &Class::damping, cls_doc.damping.doc);
}
{
using Class = RevoluteSpring<T>;
constexpr auto& cls_doc = doc.RevoluteSpring;
auto cls = DefineTemplateClassWithDefault<Class, ForceElement<T>>(
m, "RevoluteSpring", param, cls_doc.doc);
cls // BR
.def(py::init<const RevoluteJoint<T>&, double, double>(),
py::arg("joint"), py::arg("nominal_angle"), py::arg("stiffness"),
cls_doc.ctor.doc)
.def("joint", &Class::joint, py_rvp::reference_internal,
cls_doc.joint.doc)
.def("nominal_angle", &Class::nominal_angle, cls_doc.nominal_angle.doc)
.def("stiffness", &Class::stiffness, cls_doc.stiffness.doc);
}
{
using Class = UniformGravityFieldElement<T>;
constexpr auto& cls_doc = doc.UniformGravityFieldElement;
auto cls = DefineTemplateClassWithDefault<Class, ForceElement<T>>(
m, "UniformGravityFieldElement", param, cls_doc.doc);
cls // BR
.def_readonly_static("kDefaultStrength", &Class::kDefaultStrength)
.def(py::init<>(), cls_doc.ctor.doc_0args)
.def(
py::init<Vector3<double>>(), py::arg("g_W"), cls_doc.ctor.doc_1args)
.def("gravity_vector", &Class::gravity_vector,
cls_doc.gravity_vector.doc)
.def("set_gravity_vector", &Class::set_gravity_vector,
cls_doc.set_gravity_vector.doc)
.def("CalcGravityGeneralizedForces",
&Class::CalcGravityGeneralizedForces, py::arg("context"),
cls_doc.CalcGravityGeneralizedForces.doc);
}
{
using Class = DoorHinge<T>;
constexpr auto& cls_doc = doc.DoorHinge;
auto cls = DefineTemplateClassWithDefault<Class, ForceElement<T>>(
m, "DoorHinge", param, cls_doc.doc);
cls // BR
.def(py::init<const RevoluteJoint<T>&, const DoorHingeConfig&>(),
py::arg("joint"), py::arg("config"), cls_doc.ctor.doc)
.def("joint", &Class::joint, py_rvp::reference_internal,
cls_doc.joint.doc)
.def("config", &Class::config, py_rvp::reference_internal,
cls_doc.config.doc)
.def("CalcHingeFrictionalTorque", &Class::CalcHingeFrictionalTorque,
py::arg("angular_rate"), cls_doc.CalcHingeFrictionalTorque.doc)
.def("CalcHingeSpringTorque", &Class::CalcHingeSpringTorque,
py::arg("angle"), cls_doc.CalcHingeSpringTorque.doc)
.def("CalcHingeTorque", &Class::CalcHingeTorque, py::arg("angle"),
py::arg("angular_rate"), cls_doc.CalcHingeTorque.doc);
}
{
using Class = LinearBushingRollPitchYaw<T>;
constexpr auto& cls_doc = doc.LinearBushingRollPitchYaw;
auto cls = DefineTemplateClassWithDefault<Class, ForceElement<T>>(
m, "LinearBushingRollPitchYaw", param, cls_doc.doc);
cls // BR
.def(py::init<const Frame<T>&, const Frame<T>&, const Vector3d&,
const Vector3d&, const Vector3d&, const Vector3d&>(),
py::arg("frameA"), py::arg("frameC"),
py::arg("torque_stiffness_constants"),
py::arg("torque_damping_constants"),
py::arg("force_stiffness_constants"),
py::arg("force_damping_constants"), cls_doc.ctor.doc)
.def("link0", &Class::link0, py_rvp::reference_internal,
cls_doc.link0.doc)
.def("link1", &Class::link1, py_rvp::reference_internal,
cls_doc.link1.doc)
.def("frameA", &Class::frameA, py_rvp::reference_internal,
cls_doc.frameA.doc)
.def("frameC", &Class::frameC, py_rvp::reference_internal,
cls_doc.frameC.doc)
.def("torque_stiffness_constants", &Class::torque_stiffness_constants,
cls_doc.torque_stiffness_constants.doc)
.def("torque_damping_constants", &Class::torque_damping_constants,
cls_doc.torque_damping_constants.doc)
.def("force_stiffness_constants", &Class::force_stiffness_constants,
cls_doc.force_stiffness_constants.doc)
.def("force_damping_constants", &Class::force_damping_constants,
cls_doc.force_damping_constants.doc)
.def("GetTorqueStiffnessConstants", &Class::GetTorqueStiffnessConstants,
py::arg("context"), cls_doc.GetTorqueStiffnessConstants.doc)
.def("GetTorqueDampingConstants", &Class::GetTorqueDampingConstants,
py::arg("context"), cls_doc.GetTorqueDampingConstants.doc)
.def("GetForceStiffnessConstants", &Class::GetForceStiffnessConstants,
py::arg("context"), cls_doc.GetForceStiffnessConstants.doc)
.def("GetForceDampingConstants", &Class::GetForceDampingConstants,
py::arg("context"), cls_doc.GetForceDampingConstants.doc)
.def("SetTorqueStiffnessConstants", &Class::SetTorqueStiffnessConstants,
py::arg("context"), py::arg("torque_stiffness"),
cls_doc.SetTorqueStiffnessConstants.doc)
.def("SetTorqueDampingConstants", &Class::SetTorqueDampingConstants,
py::arg("context"), py::arg("torque_damping"),
cls_doc.SetTorqueDampingConstants.doc)
.def("SetForceStiffnessConstants", &Class::SetForceStiffnessConstants,
py::arg("context"), py::arg("force_stiffness"),
cls_doc.SetForceStiffnessConstants.doc)
.def("SetForceDampingConstants", &Class::SetForceDampingConstants,
py::arg("context"), py::arg("force_damping"),
cls_doc.SetForceDampingConstants.doc)
.def("CalcBushingSpatialForceOnFrameA",
&Class::CalcBushingSpatialForceOnFrameA, py::arg("context"),
cls_doc.CalcBushingSpatialForceOnFrameA.doc)
.def("CalcBushingSpatialForceOnFrameC",
&Class::CalcBushingSpatialForceOnFrameC, py::arg("context"),
cls_doc.CalcBushingSpatialForceOnFrameC.doc);
}
// MultibodyForces
{
using Class = MultibodyForces<T>;
constexpr auto& cls_doc = doc.MultibodyForces;
auto cls = DefineTemplateClassWithDefault<Class>(
m, "MultibodyForces", param, cls_doc.doc);
// Custom constructor so that in Python we can take a MultibodyPlant
// instead of a MultibodyTreeSystem.
// N.B. This depends on `plant_py.cc`, but this codepath will only be
// activated if this module is present, and thus should not create a runtime
// error.
cls // BR
.def(py::init([](const MultibodyPlant<T>& plant) {
return std::make_unique<Class>(plant);
}),
py::arg("plant"), cls_doc.ctor.doc_1args_plant)
.def(py::init<int, int>(), py::arg("nb"), py::arg("nv"),
cls_doc.ctor.doc_2args_nb_nv)
.def("SetZero", &Class::SetZero, cls_doc.SetZero.doc)
.def("num_bodies", &Class::num_bodies, cls_doc.num_bodies.doc)
.def("num_velocities", &Class::num_velocities,
cls_doc.num_velocities.doc)
.def("generalized_forces", &Class::generalized_forces,
cls_doc.generalized_forces.doc)
.def("mutable_generalized_forces", &Class::mutable_generalized_forces,
py_rvp::reference_internal, cls_doc.mutable_generalized_forces.doc)
// WARNING: Do not bind `body_forces` or `mutable_body_forces` because
// they use `internal::BodyNodeIndex`. Instead, use force API in Body.
.def("AddInForces", &Class::AddInForces, py::arg("addend"),
cls_doc.AddInForces.doc);
DefCopyAndDeepCopy(&cls);
}
// Inertias
{
using Class = RotationalInertia<T>;
constexpr auto& cls_doc = doc.RotationalInertia;
auto cls = DefineTemplateClassWithDefault<Class>(
m, "RotationalInertia", param, cls_doc.doc);
cls // BR
.def(py::init<>(), cls_doc.ctor.doc_0args)
.def(py::init<const T&, const T&, const T&>(), py::arg("Ixx"),
py::arg("Iyy"), py::arg("Izz"), cls_doc.ctor.doc_3args)
.def(py::init<const T&, const T&, const T&, const T&, const T&,
const T&>(),
py::arg("Ixx"), py::arg("Iyy"), py::arg("Izz"), py::arg("Ixy"),
py::arg("Ixz"), py::arg("Iyz"), cls_doc.ctor.doc_6args)
.def(py::init<const T&, const Vector3<T>&>(), py::arg("mass"),
py::arg("p_PQ_E"), cls_doc.ctor.doc_2args)
.def_static("TriaxiallySymmetric", &Class::TriaxiallySymmetric,
py::arg("I_triaxial"), cls_doc.TriaxiallySymmetric.doc)
.def("rows", &Class::rows, cls_doc.rows.doc)
.def("cols", &Class::cols, cls_doc.cols.doc)
.def("get_moments", &Class::get_moments, cls_doc.get_moments.doc)
.def("get_products", &Class::get_products, cls_doc.get_products.doc)
.def("Trace", &Class::Trace, cls_doc.Trace.doc)
.def("CalcMaximumPossibleMomentOfInertia",
&Class::CalcMaximumPossibleMomentOfInertia,
cls_doc.CalcMaximumPossibleMomentOfInertia.doc)
.def(
"__getitem__",
[](const Class& self, py::tuple key) -> T {
if (key.size() != 2) {
throw std::out_of_range("Expected [i,j] for __getitem__.");
}
const int i = py::cast<int>(key[0]);
const int j = py::cast<int>(key[1]);
return self(i, j);
},
cls_doc.operator_call.doc)
.def("CopyToFullMatrix3", &Class::CopyToFullMatrix3,
cls_doc.CopyToFullMatrix3.doc)
.def("IsNearlyEqualTo", &Class::IsNearlyEqualTo, py::arg("other"),
py::arg("precision"), cls_doc.IsNearlyEqualTo.doc)
.def(py::self += py::self, cls_doc.operator_iadd.doc)
.def(py::self + py::self, cls_doc.operator_add.doc)
.def(py::self -= py::self, cls_doc.operator_isub.doc)
.def(py::self - py::self, cls_doc.operator_sub.doc)
.def(py::self *= T{}, cls_doc.operator_imul.doc)
.def(py::self * T{}, cls_doc.operator_mul.doc)
.def(T{} * py::self, cls_doc.operator_mul.doc)
.def(py::self * Vector3<T>{}, cls_doc.operator_mul.doc)
.def(py::self /= T{}, cls_doc.operator_idiv.doc)
.def(py::self / T{}, cls_doc.operator_div.doc)
.def("SetToNaN", &Class::SetToNaN, cls_doc.SetToNaN.doc)
.def("SetZero", &Class::SetZero, cls_doc.SetZero.doc)
.def("IsNaN", &Class::IsNaN, cls_doc.IsNaN.doc)
// TODO(jwnimmer-tri) Need to bind cast<>.
.def("CalcPrincipalMomentsOfInertia",
&Class::CalcPrincipalMomentsOfInertia,
cls_doc.CalcPrincipalMomentsOfInertia.doc)
.def("CouldBePhysicallyValid", &Class::CouldBePhysicallyValid,
cls_doc.CouldBePhysicallyValid.doc)
.def("ReExpress", &Class::ReExpress, py::arg("R_AE"),
cls_doc.ReExpress.doc)
.def("ShiftFromCenterOfMass", &Class::ShiftFromCenterOfMass,
py::arg("mass"), py::arg("p_BcmQ_E"),
cls_doc.ShiftFromCenterOfMass.doc)
.def("ShiftToCenterOfMass", &Class::ShiftToCenterOfMass,
py::arg("mass"), py::arg("p_QBcm_E"),
cls_doc.ShiftToCenterOfMass.doc)
.def("ShiftToThenAwayFromCenterOfMass",
&Class::ShiftToThenAwayFromCenterOfMass, py::arg("mass"),
py::arg("p_PBcm_E"), py::arg("p_QBcm_E"),
cls_doc.ShiftToThenAwayFromCenterOfMass.doc)
.def(py::pickle(
[](const Class& self) { return self.CopyToFullMatrix3(); },
[](const Matrix3<T>& I) {
// Invoke 6-argument constructor by specifying full (upper
// diagonal) inertia matrix.
return Class(
I(0, 0), I(1, 1), I(2, 2), I(0, 1), I(0, 2), I(1, 2));
}));
DefCopyAndDeepCopy(&cls);
}
{
using Class = UnitInertia<T>;
constexpr auto& cls_doc = doc.UnitInertia;
auto cls = DefineTemplateClassWithDefault<Class, RotationalInertia<T>>(
m, "UnitInertia", param, cls_doc.doc);
cls // BR
.def(py::init(), cls_doc.ctor.doc_0args)
.def(py::init<const T&, const T&, const T&>(), py::arg("Ixx"),
py::arg("Iyy"), py::arg("Izz"), cls_doc.ctor.doc_3args)
.def(py::init<const T&, const T&, const T&, const T&, const T&,
const T&>(),
py::arg("Ixx"), py::arg("Iyy"), py::arg("Izz"), py::arg("Ixy"),
py::arg("Ixz"), py::arg("Iyz"), cls_doc.ctor.doc_6args)
.def(py::init([](const RotationalInertia<T>& I) { return Class(I); }),
py::arg("I"), cls_doc.ctor.doc_1args)
.def("SetFromRotationalInertia", &Class::SetFromRotationalInertia,
py::arg("I"), py::arg("mass"), py_rvp::reference,
cls_doc.SetFromRotationalInertia.doc)
.def("ReExpress", &Class::ReExpress, py::arg("R_AE"),
cls_doc.ReExpress.doc)
.def("ShiftFromCenterOfMass", &Class::ShiftFromCenterOfMass,
py::arg("p_BcmQ_E"), cls_doc.ShiftFromCenterOfMass.doc)
.def("ShiftToCenterOfMass", &Class::ShiftToCenterOfMass,
py::arg("p_QBcm_E"), cls_doc.ShiftToCenterOfMass.doc)
.def_static("PointMass", &Class::PointMass, py::arg("p_FQ"),
cls_doc.PointMass.doc)
.def_static("SolidSphere", &Class::SolidSphere, py::arg("r"),
cls_doc.SolidSphere.doc)
.def_static("HollowSphere", &Class::HollowSphere, py::arg("r"),
cls_doc.HollowSphere.doc)
.def_static("SolidBox", &Class::SolidBox, py::arg("Lx"), py::arg("Ly"),
py::arg("Lz"), cls_doc.SolidBox.doc)
.def_static(
"SolidCube", &Class::SolidCube, py::arg("L"), cls_doc.SolidCube.doc)
.def_static("SolidCylinder", &Class::SolidCylinder, py::arg("r"),
py::arg("L"), py::arg("b_E") = Vector3<T>::UnitZ().eval(),
cls_doc.SolidCylinder.doc)
.def_static("SolidCylinderAboutEnd", &Class::SolidCylinderAboutEnd,
py::arg("r"), py::arg("L"), cls_doc.SolidCylinderAboutEnd.doc)
.def_static("AxiallySymmetric", &Class::AxiallySymmetric, py::arg("J"),
py::arg("K"), py::arg("b_E"), cls_doc.AxiallySymmetric.doc)
.def_static("StraightLine", &Class::StraightLine, py::arg("K"),
py::arg("b_E"), cls_doc.StraightLine.doc)
.def_static("ThinRod", &Class::ThinRod, py::arg("L"), py::arg("b_E"),
cls_doc.ThinRod.doc)
.def_static("TriaxiallySymmetric", &Class::TriaxiallySymmetric,
py::arg("I_triaxial"), cls_doc.TriaxiallySymmetric.doc)
.def(py::pickle(
[](const Class& self) { return self.CopyToFullMatrix3(); },
[](const Matrix3<T>& I) {
// Invoke 6-argument constructor by specifying full (upper
// diagonal) inertia matrix.
return Class(
I(0, 0), I(1, 1), I(2, 2), I(0, 1), I(0, 2), I(1, 2));
}));
DefCopyAndDeepCopy(&cls);
}
// SpatialInertia
{
using Class = SpatialInertia<T>;
constexpr auto& cls_doc = doc.SpatialInertia;
auto cls = DefineTemplateClassWithDefault<Class>(
m, "SpatialInertia", param, cls_doc.doc);
cls // BR
.def_static("MakeFromCentralInertia", &Class::MakeFromCentralInertia,