hi,
thanks gays for your help and patience.but i sill have a problem
even when i follow Stefan recommendations.in fact some of my cython
classes inherits from other pure python classes(no multiple
inheritance) and i wonder if it causes problem when using methods from
it(i was thinking about rewriting *.pxd header for parent classes and
cimport methods from it or something like...).back to property
problem...here is my code:
from numpy import array, zeros, eye, dot, sin, cos #no more need of
sin, cos
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)
#must see Joint class to enhance this one...
class LinearConfigurationSpaceJoint(Joint):
"""
joints whose space is diffeomorph to the real set.
"""
def integrate(self, dt):
self.gpos += dt * self.gvel
cdef class FreeJoint(Joint):
"""Free joint (6-dof)
"""
def __init__(self, gpos=None, gvel=None, name=None):
"""
example:
>>> j = FreeJoint()
>>> j.gpos
array([[ 1., 0., 0., 0.],
[ 0., 1., 0., 0.],
[ 0., 0., 1., 0.],
[ 0., 0., 0., 1.]])
>>> j.gvel
array([ 0., 0., 0., 0., 0., 0.])
"""
if gpos is None:
gpos = eye(4)
if gvel is None:
gvel = zeros((6))
self.gpos = array(gpos).reshape((4,4))
self.gvel = array(gvel).reshape((6))
Joint.__init__(self, name)
property ndof:
def __get__(self): # This is called when the property is read.
return 6
property pose:
def __get__(self):
return self.gpos.copy()
property twist:
def __get__(self):
return self.gvel.copy()
property jacobian:
def __get__(self):
return eye(6)
property djacobian:
def __get__(self):
return zeros((6,6))
def integrate(self, dt): #must see twistvector, exp dot to enhance
this methode
from twistvector import exp #twistvector must be declared 'cdef exter
class tewistsvector'
self.gpos = dot(self.gpos, exp( dt*self.gvel))
#class PivotJoint(Joint):
#
# """Pivot (2-dof)
# """
#
#class BallJoint(Joint):
#
# """Ball and socket (3-dof)
# """
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 ndof: #mes modifs.......
def __get__(self):
return 3
property pose:
def __get__(self):
return homogeneousmatrix.rotzyx(self.gpos)
cdef _getjacobian(self):
"""
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
#we used this method to preserve the use of proprety:(
#eventally look further if we could write cpdef jacobian.... and at the
same time preserve proprety
#pay attention about names...
property jacobian:
def __get__(self):
return self._getjacobian()
#sam thing for djacobian
cdef _getdjacobian(self):
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 float dx = self.gvel[0]
cdef float dy = self.gvel[1]
cdef np.ndarray[DTYPE_t, ndim=2] value = np.array (
([ 0. , 0. ,-dy*cy ],
[ 0. ,-dx*sx , dx*cx*sy+dy*sx*cy ],
[ 0. ,-dx*cx ,-dx*sx*cy-dy*cx*sy ],
[ 0. , 0. , 0. ],
[ 0. , 0. , 0. ],
[ 0. , 0. , 0. ]), dtype=DTYPE)
return value
property djacobian:
def __get__(self):
return self._getdjacobian()
and here is the compilation error messages:
tenni...@tenninos-laptop:~/stage/arboris-python/src$ python setup.py build_ext
--inplace
running build_ext
cythoning joints_c.pyx to joints_c.c
Error converting Pyrex file to C:
------------------------------------------------------------
...
def integrate(self, dt):
self.gpos += dt * self.gvel
cdef class FreeJoint(Joint):
^
------------------------------------------------------------
/home/tenninos/stage/arboris-python/src/joints_c.pyx:31:5: 'Joint' is not a
type name
Error converting Pyrex file to C:
------------------------------------------------------------
...
# """Ball and socket (3-dof)
# """
cdef class RzRyRxJoint(LinearConfigurationSpaceJoint):
^
------------------------------------------------------------
/home/tenninos/stage/arboris-python/src/joints_c.pyx:91:5:
'LinearConfigurationSpaceJoint' is not a type name
Error converting Pyrex file to C:
------------------------------------------------------------
...
property djacobian:
def __get__(self):
return self._getdjacobian()
cdef class RzRyJoint(LinearConfigurationSpaceJoint):
^
------------------------------------------------------------
/home/tenninos/stage/arboris-python/src/joints_c.pyx:153:5:
'LinearConfigurationSpaceJoint' is not a type name
Error converting Pyrex file to C:
------------------------------------------------------------
...
return value
property djacobian:
def __get__(self):
return self._getdjacobian()
cdef class RzRxJoint(LinearConfigurationSpaceJoint):
^
------------------------------------------------------------
_________________________________________________________________
Téléphonez gratuitement à tous vos proches avec Windows Live Messenger !
Téléchargez-le maintenant !
http://www.windowslive.fr/messenger/1.asp_______________________________________________
Cython-dev mailing list
[email protected]
http://codespeak.net/mailman/listinfo/cython-dev
