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feat(state-representation): add utilities for CartesianStateVariable #196

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5 changes: 5 additions & 0 deletions CHANGELOG.md
Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,11 @@ Release Versions
- [6.3.0](#630)
- [6.2.0](#620)


## Upcoming changes (in development)

- feat(state-representation): add utilities for CartesianStateVariable (#196)

## 9.0.0

Version 9.0.0 is a new major version of control libraries that is built on Ubuntu 24.04 with Python 3.12. It does not
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7 changes: 7 additions & 0 deletions python/source/state_representation/bind_cartesian_space.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,9 @@ void cartesian_state_variable(py::module_& m) {
.value("WRENCH", CartesianStateVariable::WRENCH)
.value("ALL", CartesianStateVariable::ALL)
.export_values();

m.def("string_to_cartesian_state_variable", &state_representation::string_to_cartesian_state_variable, "Convert a string to a CartesianStateVariable enum (case insensitive)", "variable"_a);
m.def("cartesian_state_variable_to_string", &state_representation::cartesian_state_variable_to_string, "Convert CartesianStateVariable to a string", "variable"_a);
}

void cartesian_state(py::module_& m) {
Expand Down Expand Up @@ -173,6 +176,10 @@ void cartesian_state(py::module_& m) {
buffer << state;
return buffer.str();
});

c.def("get_state_variable", &CartesianState::get_state_variable, "Getter of the variable value corresponding to the input", "state_variable_type"_a);
c.def("set_state_variable", py::overload_cast<const Eigen::VectorXd&, const CartesianStateVariable&>(&CartesianState::set_state_variable), "Setter of the variable value corresponding to the input", "new_value"_a, "state_variable_type"_a);
c.def("set_state_variable", py::overload_cast<const std::vector<double>&, const CartesianStateVariable&>(&CartesianState::set_state_variable), "Setter of the variable value corresponding to the input", "new_value"_a, "state_variable_type"_a);
}

void cartesian_pose(py::module_& m) {
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2 changes: 2 additions & 0 deletions python/source/state_representation/bind_exceptions.cpp
Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
#include "state_representation_bindings.hpp"

#include <state_representation/exceptions/EmptyStateException.hpp>
#include <state_representation/exceptions/InvalidStateVariableException.hpp>
#include <state_representation/exceptions/IncompatibleReferenceFramesException.hpp>
#include <state_representation/exceptions/IncompatibleSizeException.hpp>
#include <state_representation/exceptions/IncompatibleStatesException.hpp>
Expand All @@ -11,6 +12,7 @@

void bind_exceptions(py::module_& m) {
py::register_exception<exceptions::EmptyStateException>(m, "EmptyStateError", PyExc_RuntimeError);
py::register_exception<exceptions::InvalidStateVariableException>(m, "InvalidStateVariableError", PyExc_RuntimeError);
py::register_exception<exceptions::IncompatibleReferenceFramesException>(m, "IncompatibleReferenceFramesError", PyExc_RuntimeError);
py::register_exception<exceptions::IncompatibleSizeException>(m, "IncompatibleSizeError", PyExc_RuntimeError);
py::register_exception<exceptions::IncompatibleStatesException>(m, "IncompatibleStatesError", PyExc_RuntimeError);
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Original file line number Diff line number Diff line change
@@ -0,0 +1,11 @@
#pragma once

#include <exception>
#include <iostream>

namespace state_representation::exceptions {
class InvalidStateVariableException : public std::runtime_error {
public:
explicit InvalidStateVariableException(const std::string& msg) : runtime_error(msg) {};
};
}// namespace state_representation::exceptions
Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@

#include "state_representation/space/SpatialState.hpp"
#include "state_representation/exceptions/IncompatibleSizeException.hpp"
#include "state_representation/exceptions/InvalidStateVariableException.hpp"

namespace state_representation {

Expand Down Expand Up @@ -550,7 +551,6 @@ class CartesianState : public SpatialState {
*/
friend std::ostream& operator<<(std::ostream& os, const CartesianState& state);

protected:
/**
* @brief Getter of the variable value corresponding to the input
* @param state_variable_type The type of variable to get
Expand All @@ -571,6 +571,7 @@ class CartesianState : public SpatialState {
*/
void set_state_variable(const std::vector<double>& new_value, const CartesianStateVariable& state_variable_type);

protected:
/**
* @copydoc SpatialState::to_string
*/
Expand Down Expand Up @@ -598,4 +599,86 @@ inline void swap(CartesianState& state1, CartesianState& state2) {
std::swap(state1.force_, state2.force_);
std::swap(state1.torque_, state2.torque_);
}

/**
* @brief Convert a string to a CartesianStateVariable enum (case insensitive)
* @throws exceptions::InvalidStateVariableException
* @param variable The string to convert
* @return A CartesianStateVariable enum corresponding to the input string
*/
inline state_representation::CartesianStateVariable string_to_cartesian_state_variable(const std::string& variable) {
std::string case_insensitive_variable;
std::transform(variable.begin(), variable.end(), std::back_inserter(case_insensitive_variable), [](unsigned char c) {
return std::tolower(c);
});
if (case_insensitive_variable == "position") {
return CartesianStateVariable::POSITION;
} else if (case_insensitive_variable == "orientation") {
return CartesianStateVariable::ORIENTATION;
} else if (case_insensitive_variable == "pose") {
return CartesianStateVariable::POSE;
} else if (case_insensitive_variable == "linear_velocity") {
return CartesianStateVariable::LINEAR_VELOCITY;
} else if (case_insensitive_variable == "angular_velocity") {
return CartesianStateVariable::ANGULAR_VELOCITY;
} else if (case_insensitive_variable == "twist") {
return CartesianStateVariable::TWIST;
} else if (case_insensitive_variable == "linear_acceleration") {
return CartesianStateVariable::LINEAR_ACCELERATION;
} else if (case_insensitive_variable == "angular_acceleration") {
return CartesianStateVariable::ANGULAR_ACCELERATION;
} else if (case_insensitive_variable == "acceleration") {
return CartesianStateVariable::ACCELERATION;
} else if (case_insensitive_variable == "force") {
return CartesianStateVariable::FORCE;
} else if (case_insensitive_variable == "torque") {
return CartesianStateVariable::TORQUE;
} else if (case_insensitive_variable == "twist") {
return CartesianStateVariable::TWIST;
} else if (case_insensitive_variable == "wrench") {
return CartesianStateVariable::WRENCH;
} else if (case_insensitive_variable == "all") {
return CartesianStateVariable::ALL;
} else {
throw exceptions::InvalidStateVariableException("Invalid Cartesian state variable: " + variable);
}
}

/**
* @brief Convert CartesianStateVariable to a string
* @throws exceptions::InvalidStateVariableException
* @param variable The CartesianStateVariable enum to convert
* @return A string corresponding to the CartesianStateVariable enum
*/
inline std::string cartesian_state_variable_to_string(const CartesianStateVariable& variable) {
switch (variable) {
case CartesianStateVariable::POSITION:
return "position";
case CartesianStateVariable::ORIENTATION:
return "orientation";
case CartesianStateVariable::POSE:
return "pose";
case CartesianStateVariable::LINEAR_VELOCITY:
return "linear_velocity";
case CartesianStateVariable::ANGULAR_VELOCITY:
return "angular_velocity";
case CartesianStateVariable::TWIST:
return "twist";
case CartesianStateVariable::LINEAR_ACCELERATION:
return "linear_acceleration";
case CartesianStateVariable::ANGULAR_ACCELERATION:
return "angular_acceleration";
case CartesianStateVariable::ACCELERATION:
return "acceleration";
case CartesianStateVariable::FORCE:
return "force";
case CartesianStateVariable::TORQUE:
return "torque";
case CartesianStateVariable::WRENCH:
return "wrench";
case CartesianStateVariable::ALL:
return "all";
}
}

}// namespace state_representation
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