[DQ_FreeFlyingRobot_py.cpp] Added a new class to model free flying robots.

Author: juanjqo

src/robot_modeling/DQ_FreeFlyingRobot_py.cpp

@@ -0,0 +1,56 @@
+/**
+(C) Copyright 2023 DQ Robotics Developers
+
+This file is part of DQ Robotics.
+
+    DQ Robotics is free software: you can redistribute it and/or modify
+    it under the terms of the GNU Lesser General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    DQ Robotics is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU Lesser General Public License for more details.
+
+    You should have received a copy of the GNU Lesser General Public License
+    along with DQ Robotics.  If not, see <http://www.gnu.org/licenses/>.
+
+Contributors:
+    1. Bruno Vilhena Adorno ([email protected])
+       Responsible for the original implementation in file DQ_FreeFlyingRobot.m
+       https://github.com/dqrobotics/matlab/pull/66/commits
+
+    2. Juan Jose Quiroz Omana   ([email protected])
+       Created this file.
+*/
+
+#include "../dqrobotics_module.h"
+
+void init_DQ_FreeFlyingRobot_py(py::module& m)
+{
+    /***************************************************
+    *  DQ FreeFlyingRobot
+    * **************************************************/
+    py::class_<
+            DQ_FreeFlyingRobot,
+            std::shared_ptr<DQ_FreeFlyingRobot>,
+            DQ_Kinematics
+            > dqfreeflyingrobot_py(m, "DQ_FreeFlyingRobot");
+
+    dqfreeflyingrobot_py.def(py::init());
+
+    ///Methods
+    //Concrete
+    dqfreeflyingrobot_py.def("fkm",(DQ (DQ_FreeFlyingRobot::*)(const DQ&) const)&DQ_FreeFlyingRobot::fkm,"Gets the the free-flying robot pose.");
+    dqfreeflyingrobot_py.def("pose_jacobian",(MatrixXd (DQ_FreeFlyingRobot::*)(const DQ&) const)&DQ_FreeFlyingRobot::pose_jacobian,"Gets the free-flying robot pose Jacobian.");
+    dqfreeflyingrobot_py.def("pose_jacobian_derivative",(MatrixXd (DQ_FreeFlyingRobot::*)(const DQ&) const)&DQ_FreeFlyingRobot::pose_jacobian_derivative,"Gets the free-flying robot pose Jacobian derivative.");
+
+
+    //Overrides from DQ_Kinematics
+    dqfreeflyingrobot_py.def("fkm",                         (DQ (DQ_FreeFlyingRobot::*)(const VectorXd&) const)&DQ_FreeFlyingRobot::fkm,"Gets the fkm.");
+    dqfreeflyingrobot_py.def("fkm",                         (DQ (DQ_FreeFlyingRobot::*)(const VectorXd&,const int&) const)&DQ_FreeFlyingRobot::fkm,"Gets the fkm.");
+    dqfreeflyingrobot_py.def("pose_jacobian",               (MatrixXd (DQ_FreeFlyingRobot::*)(const VectorXd&, const int&) const)&DQ_FreeFlyingRobot::pose_jacobian,"Returns the pose Jacobian.");
+    dqfreeflyingrobot_py.def("pose_jacobian_derivative",    (MatrixXd (DQ_FreeFlyingRobot::*)(const VectorXd&, const VectorXd&, const int&) const)
+                                                               &DQ_FreeFlyingRobot::pose_jacobian_derivative,"Returns the pose Jacobian derivative.");
+}