hi people,
her is my issue: I'm working on optimization of a simulator written in python
and using numpy a lot.as i'm a new user of cython, I'm asking help about
defining functions like cpdef foo(..) and using at the same time @proprety
decorator.i got this msg when compiling the .pyx file:
Error converting Pyrex file to C:
------------------------------------------------------------
...
@property
def pose(self):
return homogeneousmatrix.rotzyx(self.gpos)
@property
^
------------------------------------------------------------
/home/tenninos/stage/arboris-python/src/joints_c.pyx:109:4: Cdef functions
cannot take arbitrary decorators.
and here is both my python and cython code.i'd be really grateful if you could
help me further in my optimisation :
from numpy import array, zeros, eye, dot, sin, cos, dot
from abc import ABCMeta, abstractmethod
import homogeneousmatrix
from misc import NamedObject
from arboris import Joint
class RzRyRxJoint(LinearConfigurationSpaceJoint):
"""Ball and socket (3-dof) implemented with 3 serial hinges
the resulting homogeneous matrix is given by H = Rz*Ry*Rx
"""
def __init__(self, gpos=[0.,0.,0.], gvel=[0.,0.,0.], name=None):
self.gpos = array(gpos).reshape((3))
self.gvel = array(gvel).reshape((3))
Joint.__init__(self, name)
@property
def ndof(self):
return 3
@property
def pose(self):
return homogeneousmatrix.rotzyx(self.gpos)
@property
def jacobian(self):
"""
T_n/r =
"""
sx = sin(self.gpos[0])
cx = cos(self.gpos[0])
sy = sin(self.gpos[1])
cy = cos(self.gpos[1])
return array(
[[ 1. , 0. , -sy ],
[ 0. , cx , sx*sy ],
[ 0. ,-sx , cx*cy ],
[ 0. , 0. , 0. ],
[ 0. , 0. , 0. ],
[ 0. , 0. , 0. ]])
cython:....
from numpy import array, zeros, eye, dot, sin, cos, dot
from abc import ABCMeta, abstractmethod
import homogeneousmatrix
from misc import NamedObject
from arboris import Joint
#mes modifs....
cimport numpy as np
DTYPE = np.float
ctypedef np.float_t DTYPE_t
cdef extern from "math.h":
float cosf(float theta)
float sinf(float theta)
cdef class RzRyRxJoint(LinearConfigurationSpaceJoint):
"""Ball and socket (3-dof) implemented with 3 serial hinges
the resulting homogeneous matrix is given by H = Rz*Ry*Rx
"""
def __init__(self, gpos=[0.,0.,0.], gvel=[0.,0.,0.], name=None):
self.gpos = array(gpos).reshape((3))
self.gvel = array(gvel).reshape((3))
Joint.__init__(self, name)
@property
def ndof(self):
return 3
@property
def pose(self):
return homogeneousmatrix.rotzyx(self.gpos)
@property
cpdef jacobian(self): #mes modifs.......
"""
T_n/r =
"""
cdef float sx = sinf(self.gpos[0])
cdef float cx = cosf(self.gpos[0])
cdef float sy = sinf(self.gpos[1])
cdef float cy = cosf(self.gpos[1])
cdef np.ndarray[DTYPE_t, ndim=2] value = np.array (
([ 1. , 0. , -sy ],
[ 0. , cx , sx*sy ],
[ 0. ,-sx , cx*cy ],
[ 0. , 0. , 0. ],
[ 0. , 0. , 0. ],
[ 0. , 0. , 0. ]), dtype=DTYPE)
return value
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