Bindings - add bindings for spline joint

Author: MegMll

include/pinocchio/bindings/python/multibody/joint/joints-datas.hpp

@@ -72,7 +72,6 @@ namespace pinocchio
         .add_property("pjMi", &JointDataComposite::pjMi)
         .add_property("StU", &JointDataComposite::StU);
     }
-
   } // namespace python
 } // namespace pinocchio
 

include/pinocchio/bindings/python/multibody/joint/joints-models.hpp

@@ -269,6 +269,31 @@ namespace pinocchio
           "Second rotation axis of the JointModelUniversal.");
     }
 
+    // Specialization for JointModelSpline
+    template<>
+    bp::class_<context::JointModelSpline> &
+    expose_joint_model<context::JointModelSpline>(bp::class_<context::JointModelSpline> & cl)
+    {
+      return cl
+        .def(bp::init<>(
+          bp::args("self"),
+          "Init an empty joint Spline. Default degree of spline basis function is 3."))
+        .def(
+          "addControlFrame", &context::JointModelSpline::addControlFrame, bp::arg("frame"),
+          "Add a frame to the frame control vector. As of now, they need to be added in the order "
+          "of the movement of the spline")
+        .def(
+          "makeKnots", &context::JointModelSpline::makeKnots,
+          "generate the knots vector for the spline. Call after all the control frame have been "
+          "added")
+        .def(
+          "computeRelativeMotion", &context::JointModelSpline::computeRelativeMotions,
+          "compute the relative motion between the control frames. Call after all the control "
+          "frames have been added")
+        .def_readwrite(
+          "degree", &context::JointModelSpline::degree, "Degree of the spline basis functions");
+    }
+
     // specialization for JointModelComposite
 
     struct JointModelCompositeAddJointVisitor

include/pinocchio/serialization/joints-data.hpp

@@ -269,6 +269,16 @@ namespace boost
       fix::serialize(ar, static_cast<pinocchio::JointDataBase<JointType> &>(joint), version);
     }
 
+    template<class Archive, typename Scalar, int Options>
+    void serialize(
+      Archive & ar,
+      pinocchio::JointDataSplineTpl<Scalar, Options> & joint,
+      const unsigned int version)
+    {
+      typedef pinocchio::JointDataSplineTpl<Scalar, Options> JointType;
+      fix::serialize(ar, static_cast<pinocchio::JointDataBase<JointType> &>(joint), version);
+    }
+
   } // namespace serialization
 } // namespace boost
 

include/pinocchio/serialization/joints-model.hpp

@@ -311,6 +311,18 @@ namespace boost
       fix::serialize(ar, *static_cast<pinocchio::JointModelBase<JointType> *>(&joint), version);
     }
 
+    template<class Archive, typename Scalar, int Options>
+    void serialize(
+      Archive & ar,
+      pinocchio::JointModelSplineTpl<Scalar, Options> & joint,
+      const unsigned int version)
+    {
+      typedef pinocchio::JointModelSplineTpl<Scalar, Options> JointType;
+      ar & make_nvp("ctrlFrames", joint.ctrlFrames);
+      ar & make_nvp("degree", joint.degree);
+
+      fix::serialize(ar, *static_cast<pinocchio::JointModelBase<JointType> *>(&joint), version);
+    }
   } // namespace serialization
 } // namespace boost