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[PyKDL] add vector version of JntToCart for fk pos and vel #497

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[PyKDL] add vector version of JntToCart for fk pos and vel #497

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7279d6f
[PyKDL] add vector version of JntToCart for fk pos and vel
MatthijsBurgh Jul 24, 2025
7220ae9
[PyKDL] update comments after copilot review
MatthijsBurgh Jul 24, 2025
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32 changes: 26 additions & 6 deletions python_orocos_kdl/PyKDL/kinfam.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -335,9 +335,19 @@ void init_kinfam(pybind11::module &m)
py::class_<ChainFkSolverPos, SolverI> chain_fk_solver_pos(m, "ChainFkSolverPos");
chain_fk_solver_pos.def("JntToCart", (int (ChainFkSolverPos::*)(const JntArray&, Frame&, int)) &ChainFkSolverPos::JntToCart,
py::arg("q_in"), py::arg("p_out"), py::arg("segmentNr")=-1);
// Argument by reference doesn't work for container types
// chain_fk_solver_pos.def("JntToCart", (int (ChainFkSolverPos::*)(const JntArray&, std::vector<Frame>&, int)) &ChainFkSolverPos::JntToCart,
// py::arg("q_in"), py::arg("p_out"), py::arg("segmentNr")=-1);
chain_fk_solver_pos.def("JntToCart", [](ChainFkSolverPos& self, const JntArray& q_in, py::list& p_out, int segmentNr)
{
std::vector<Frame> temp;
temp.resize(p_out.size());
int result = self.JntToCart(q_in, temp, segmentNr);
p_out.clear();
for (const Frame& f : temp)
{
p_out.append(f);
}
return result;
},
py::arg("q_in"), py::arg("p_out"), py::arg("segmentNr")=-1);


// --------------------
Expand All @@ -346,9 +356,19 @@ void init_kinfam(pybind11::module &m)
py::class_<ChainFkSolverVel, SolverI> chain_fk_solver_vel(m, "ChainFkSolverVel");
chain_fk_solver_vel.def("JntToCart", (int (ChainFkSolverVel::*)(const JntArrayVel&, FrameVel&, int)) &ChainFkSolverVel::JntToCart,
py::arg("q_in"), py::arg("p_out"), py::arg("segmentNr")=-1);
// Argument by reference doesn't work for container types
// chain_fk_solver_vel.def("JntToCart", (int (ChainFkSolverVel::*)(const JntArrayVel&, std::vector<FrameVel>&, int)) &ChainFkSolverVel::JntToCart,
// py::arg("q_in"), py::arg("p_out"), py::arg("segmentNr")=-1);
chain_fk_solver_vel.def("JntToCart", [](ChainFkSolverVel& self, const JntArrayVel& q_in, py::list& p_out, int segmentNr)
{
std::vector<FrameVel> temp;
temp.resize(p_out.size());
int result = self.JntToCart(q_in, temp, segmentNr);
p_out.clear();
for (const FrameVel& f : temp)
{
p_out.append(f);
}
return result;
},
py::arg("q_in"), py::arg("p_out"), py::arg("segmentNr")=-1);


// ------------------------------
Expand Down
37 changes: 37 additions & 0 deletions python_orocos_kdl/tests/kinfamtest.py
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Expand Up @@ -257,6 +257,41 @@ def testFkPosAndIkPosGivens(self):
epsJ = 1e-3
self.testFkPosAndIkPosImpl(self.fksolverpos, self.iksolverpos_givens, epsJ)

def testFkPosVect(self):
epsC = 1e-5

q = JntArray(self.chain.getNrOfJoints())

for i in range(q.rows()):
q[i] = random.uniform(-0.99, 0.99)

v_out: list[Frame | None] = [None] * self.chain.getNrOfSegments() # Initialize with None to avoid the overhead of creating Frame objects for unused entries
f_out = Frame()
self.assertEqual(self.fksolverpos.JntToCart(q, f_out), 0)
self.assertEqual(self.fksolverpos.JntToCart(q, v_out), 0)

self.assertEqual(len(v_out), self.chain.getNrOfSegments())
self.assertTrue(Equal(v_out[self.chain.getNrOfSegments() - 1], f_out, epsC))

def testFkVelVect(self):
epsC = 1e-5

q = JntArray(self.chain.getNrOfJoints())
qdot = JntArray(self.chain.getNrOfJoints())

for i in range(q.rows()):
q[i] = random.uniform(-0.99, 0.99)
qdot[i] = random.uniform(-0.99, 0.99)

v_out: list[FrameVel | None] = [None] * self.chain.getNrOfSegments() # Using None as placeholders avoids the overhead of creating multiple FrameVel objects upfront.
f_out = FrameVel()
q_vel = JntArrayVel(q, qdot)
self.assertEqual(self.fksolvervel.JntToCart(q_vel, f_out), 0)
self.assertEqual(self.fksolvervel.JntToCart(q_vel, v_out), 0)

self.assertEqual(len(v_out), self.chain.getNrOfSegments())
self.assertTrue(Equal(v_out[self.chain.getNrOfSegments() - 1], f_out, epsC))

def compare_Jdot_Diff_vs_Solver(self, dt, representation):
NrOfJoints = self.chain.getNrOfJoints()
q = JntArray(NrOfJoints)
Expand Down Expand Up @@ -357,6 +392,8 @@ def suite():
suite.addTest(KinfamTestFunctions('testFkVelAndIkVelGivens'))
suite.addTest(KinfamTestFunctions('testFkPosAndIkPos'))
suite.addTest(KinfamTestFunctions('testFkPosAndIkPosGivens'))
suite.addTest(KinfamTestFunctions('testFkPosVect'))
suite.addTest(KinfamTestFunctions('testFkVelVect'))
suite.addTest(KinfamTestFunctions('testJacDot'))
suite.addTest(KinfamTestTree('testTreeGetChainMemLeak'))
return suite
Expand Down