text: /*
   * Copyright (c) 2011-2019, The DART development contributors
   * All rights reserved.
   *
   * The list of contributors can be found at:
   *   https://github.com/dartsim/dart/blob/master/LICENSE
   *
   * This file is provided under the following "BSD-style" License:
   *   Redistribution and use in source and binary forms, with or
   *   without modification, are permitted provided that the following
   *   conditions are met:
   *   * Redistributions of source code must retain the above copyright
   *     notice, this list of conditions and the following disclaimer.
   *   * Redistributions in binary form must reproduce the above
   *     copyright notice, this list of conditions and the following
   *     disclaimer in the documentation and/or other materials provided
   *     with the distribution.
   *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
   *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
   *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
   *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
   *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
   *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
   *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
   *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   *   POSSIBILITY OF SUCH DAMAGE.
   */
  
  #include <dart/dart.hpp>
  #include <eigen_geometry_pybind.h>
  #include <pybind11/eigen.h>
  #include <pybind11/pybind11.h>
  
  namespace py = pybind11;
  
  namespace dart {
  namespace python {
  
  void BallJoint(py::module& m)
  {
    ::py::class_<
        dart::dynamics::BallJoint::Properties,
        dart::dynamics::detail::GenericJointProperties<dart::math::SO3Space>>(
        m, "BallJointProperties")
        .def(::py::init<>())
        .def(
            ::py::init<const dart::dynamics::GenericJoint<
                dart::math::SO3Space>::Properties&>(),
            ::py::arg("properties"));
  
    ::py::class_<
        dart::dynamics::BallJoint,
        dart::dynamics::GenericJoint<dart::math::SO3Space>,
        std::shared_ptr<dart::dynamics::BallJoint>>(m, "BallJoint")
        .def(
            "getType",
            +[](const dart::dynamics::BallJoint* self) -> const std::string& {
              return self->getType();
            },
            ::py::return_value_policy::reference_internal)
        .def(
            "isCyclic",
            +[](const dart::dynamics::BallJoint* self,
                std::size_t _index) -> bool { return self->isCyclic(_index); },
            ::py::arg("index"))
        .def(
            "getBallJointProperties",
            +[](const dart::dynamics::BallJoint* self)
                -> dart::dynamics::BallJoint::Properties {
              return self->getBallJointProperties();
            })
        .def(
            "getRelativeJacobianStatic",
            +[](const dart::dynamics::BallJoint* self,
                const Eigen::Vector3d& _positions)
                -> Eigen::Matrix<double, 6, 3> {
              return self->getRelativeJacobianStatic(_positions);
            },
            ::py::arg("positions"))
        .def(
            "getPositionDifferencesStatic",
            +[](const dart::dynamics::BallJoint* self,
                const Eigen::Vector3d& _q2,
                const Eigen::Vector3d& _q1) -> Eigen::Vector3d {
              return self->getPositionDifferencesStatic(_q2, _q1);
            },
            ::py::arg("q2"),
            ::py::arg("q1"))
        .def_static(
            "getStaticType",
            +[]() -> const std::string& {
              return dart::dynamics::BallJoint::getStaticType();
            },
            ::py::return_value_policy::reference_internal)
        .def_static(
            "convertToTransform",
            +[](const Eigen::Vector3d& _positions) -> Eigen::Isometry3d {
              return dart::dynamics::BallJoint::convertToTransform(_positions);
            },
            ::py::arg("positions"))
        .def_static(
            "convertToRotation",
            +[](const Eigen::Vector3d& _positions) -> Eigen::Matrix3d {
              return dart::dynamics::BallJoint::convertToRotation(_positions);
            },
            ::py::arg("positions"));
  }
  
  } // namespace python
  } // namespace dart
  