text: /*
   * Copyright (c) 2011-2022, 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 <pybind11/pybind11.h>
  // #include <pybind11/stl.h>
  #include "eigen_geometry_pybind.h"
  #include "eigen_pybind.h"
  
  namespace py = pybind11;
  
  namespace dart {
  namespace python {
  
  void Inertia(py::module& m)
  {
    ::py::class_<
        dart::dynamics::Inertia,
        std::shared_ptr<dart::dynamics::Inertia>>(m, "Inertia")
        .def(
            ::py::init<double, const Eigen::Vector3d&, const Eigen::Matrix3d&>(),
            ::py::arg_v("mass", 1),
            ::py::arg_v(
                "com", Eigen::Vector3d::Zero(), "Eigen::Vector3d::Zero()"),
            ::py::arg_v(
                "momentOfInertia",
                Eigen::Matrix3d::Identity(),
                "Eigen::Matrix3d::Identity()"))
        .def(
            ::py::init<const Eigen::Matrix6d&>(),
            ::py::arg("spatialInertiaTensor"))
        .def(
            "setMass",
            +[](dart::dynamics::Inertia* self, double mass) {
              self->setMass(mass);
            },
            ::py::arg("mass"))
        .def(
            "getMass",
            +[](const dart::dynamics::Inertia* self) -> double {
              return self->getMass();
            })
        .def(
            "setLocalCOM",
            +[](dart::dynamics::Inertia* self, const Eigen::Vector3d& com) {
              self->setLocalCOM(com);
            },
            ::py::arg("com"))
        .def(
            "getLocalCOM",
            +[](const dart::dynamics::Inertia* self) -> const Eigen::Vector3d& {
              return self->getLocalCOM();
            },
            ::py::return_value_policy::reference_internal)
        .def(
            "setMoment",
            +[](dart::dynamics::Inertia* self, const Eigen::Matrix3d& moment) {
              self->setMoment(moment);
            },
            ::py::arg("moment"))
        .def(
            "getMoment",
            +[](const dart::dynamics::Inertia* self) -> Eigen::Matrix3d {
              return self->getMoment();
            })
        .def(
            "setSpatialTensor",
            +[](dart::dynamics::Inertia* self, const Eigen::Matrix6d& spatial) {
              self->setSpatialTensor(spatial);
            },
            ::py::arg("spatial"))
        .def(
            "getSpatialTensor",
            +[](const dart::dynamics::Inertia* self) -> const Eigen::Matrix6d& {
              return self->getSpatialTensor();
            },
            ::py::return_value_policy::reference_internal)
        .def(
            "verify",
            +[](const dart::dynamics::Inertia* self,
                bool printWarnings,
                double tolerance) -> bool {
              return self->verify(printWarnings, tolerance);
            },
            ::py::arg_v("printWarnings", true),
            ::py::arg_v("tolerance", 1e-8))
        .def(
            "__eq__",
            +[](const dart::dynamics::Inertia* self,
                const dart::dynamics::Inertia& other) -> bool {
              return self && *self == other;
            })
        .def_static(
            "verifyMoment",
            +[](const Eigen::Matrix3d& moment,
                bool printWarnings,
                double tolerance) -> bool {
              return dart::dynamics::Inertia::verifyMoment(
                  moment, printWarnings, tolerance);
            },
            ::py::arg("moment"),
            ::py::arg_v("printWarnings", true),
            ::py::arg_v("tolerance", 1e-8))
        .def_static(
            "verifySpatialTensor",
            +[](const Eigen::Matrix6d& spatial,
                bool printWarnings = true,
                double tolerance = 1e-8) -> bool {
              return dart::dynamics::Inertia::verifySpatialTensor(
                  spatial, printWarnings, tolerance);
            },
            ::py::arg("spatial"),
            ::py::arg_v("printWarnings", true),
            ::py::arg_v("tolerance", 1e-8));
  }
  
  } // namespace python
  } // namespace dart
  