From bccbbe46399f3b619341a06366765739fd87789f Mon Sep 17 00:00:00 2001
From: Giulio Romualdi <giulio.romualdi@gmail.com>
Date: Tue, 25 Jan 2022 20:26:06 +0100
Subject: [PATCH] Extend the python bindings for Rotation Position and
 Transform

- Add the possibility to construct a Position object with a python array
- Add the possibility to construct a Rotation object with a python matrix
- Add the possibility to call setRotation and setPosition directly with python matrix and array
---
 bindings/python/python.i | 28 ++++++++++++++++++++++++++++
 1 file changed, 28 insertions(+)

diff --git a/bindings/python/python.i b/bindings/python/python.i
index 333c3f18d94..1e5033fec73 100644
--- a/bindings/python/python.i
+++ b/bindings/python/python.i
@@ -326,6 +326,13 @@ import_array();
 
         return iDynTree::RotationRaw(in, static_cast<unsigned>(i), static_cast<unsigned>(j));
     }
+
+    Rotation(const double* in_data, const std::ptrdiff_t in_rows, const std::ptrdiff_t in_cols) {
+        iDynTree::Rotation* rot = new iDynTree::Rotation(iDynTree::RotationRaw(in_data,
+                                                                               static_cast<unsigned>(in_rows),
+                                                                               static_cast<unsigned>(in_cols)));
+        return rot;
+    }
 };
 
 %extend iDynTree::Position {
@@ -335,8 +342,29 @@ import_array();
 
         return iDynTree::PositionRaw(in, static_cast<unsigned>(size));
     }
+
+    Position(const double* in_data, const unsigned in_size) {
+        iDynTree::Position* pos = new iDynTree::Position(iDynTree::PositionRaw(in_data, in_size));
+        return pos;
+    }
 };
 
+%extend iDynTree::Transform {
+
+    void setPosition(const double* in_data, const unsigned in_size) {
+        $self->setPosition(iDynTree::PositionRaw(in_data, static_cast<unsigned>(in_size)));
+    }
+
+    void setRotation(const double* in_data,
+                     const std::ptrdiff_t in_rows,
+                     const std::ptrdiff_t in_cols) {
+        $self->setRotation(iDynTree::RotationRaw(in_data,
+                                                 static_cast<unsigned>(in_rows),
+                                                 static_cast<unsigned>(in_cols)));
+    }
+};
+
+
 %attributeref(iDynTree::FreeFloatingPos, iDynTree::Transform&, worldBasePos)
 %attributeref(iDynTree::FreeFloatingPos, iDynTree::JointPosDoubleArray&, jointPos)
 %attributeref(iDynTree::FreeFloatingVel, iDynTree::Twist&, baseVel)