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61 lines
2.6 KiB
61 lines
2.6 KiB
2 years ago
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#include "pybind11/eigen.h"
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#include "pybind11/pybind11.h"
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#include "drake/bindings/pydrake/documentation_pybind.h"
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#include "drake/bindings/pydrake/examples/examples_py.h"
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#include "drake/bindings/pydrake/pydrake_pybind.h"
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#include "drake/examples/quadrotor/quadrotor_geometry.h"
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#include "drake/examples/quadrotor/quadrotor_plant.h"
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#include "drake/systems/primitives/affine_system.h"
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namespace drake {
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namespace pydrake {
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namespace internal {
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void DefineExamplesQuadrotor(py::module m) {
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// NOLINTNEXTLINE(build/namespaces): Emulate placement in namespace.
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using namespace drake::systems;
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// NOLINTNEXTLINE(build/namespaces): Emulate placement in namespace.
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using namespace drake::examples::quadrotor;
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constexpr auto& doc = pydrake_doc.drake.examples.quadrotor;
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// TODO(eric.cousineau): At present, we only bind doubles.
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// In the future, we will bind more scalar types, and enable scalar
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// conversion. Issue #7660.
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using T = double;
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py::class_<QuadrotorPlant<T>, LeafSystem<T>>(
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m, "QuadrotorPlant", doc.QuadrotorPlant.doc)
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.def(py::init<>(), doc.QuadrotorPlant.ctor.doc)
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.def(py::init<double, double, const Eigen::Matrix3d&, double, double>(),
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py::arg("m_arg"), py::arg("L_arg"), py::arg("I_arg"),
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py::arg("kF_arg"), py::arg("kM_arg"), doc.QuadrotorPlant.ctor.doc)
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.def("m", &QuadrotorPlant<T>::m, doc.QuadrotorPlant.m.doc)
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.def("g", &QuadrotorPlant<T>::g, doc.QuadrotorPlant.g.doc)
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.def("length", &QuadrotorPlant<T>::length, doc.QuadrotorPlant.length.doc)
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.def("force_constant", &QuadrotorPlant<T>::force_constant,
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doc.QuadrotorPlant.force_constant.doc)
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.def("moment_constant", &QuadrotorPlant<T>::moment_constant,
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doc.QuadrotorPlant.moment_constant.doc)
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.def("inertia", &QuadrotorPlant<T>::inertia, py_rvp::reference_internal,
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doc.QuadrotorPlant.inertia.doc);
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py::class_<QuadrotorGeometry, LeafSystem<double>>(
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m, "QuadrotorGeometry", doc.QuadrotorGeometry.doc)
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.def("get_frame_id", &QuadrotorGeometry::get_frame_id,
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doc.QuadrotorGeometry.get_frame_id.doc)
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.def_static("AddToBuilder", &QuadrotorGeometry::AddToBuilder,
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py::arg("builder"), py::arg("quadrotor_state_port"),
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py::arg("scene_graph"), py::return_value_policy::reference,
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// Keep alive, ownership: `return` keeps `builder` alive.
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py::keep_alive<0, 1>(), doc.QuadrotorGeometry.AddToBuilder.doc);
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m.def("StabilizingLQRController", &StabilizingLQRController,
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py::arg("quadrotor_plant"), py::arg("nominal_position"),
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doc.StabilizingLQRController.doc);
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}
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} // namespace internal
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} // namespace pydrake
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} // namespace drake
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