feat: pybind trampoline and constructor for kinematics

Author: juelg

src/pybind/rcs.cpp

@@ -183,6 +183,29 @@ class PyHand : public rcs::common::Hand {
   }
 };
 
+// trampoline kinematics
+class PyKinematics : public rcs::common::Kinematics {
+  // TODO: use line below when upgraded to pybind11 3.x
+  //  public py::trampoline_self_life_support {
+ public:
+  using rcs::common::Kinematics::Kinematics;  // Inherit constructors
+
+  std::optional<rcs::common::VectorXd> inverse(
+      const rcs::common::Pose& pose, const rcs::common::VectorXd& q0,
+      const rcs::common::Pose& tcp_offset =
+          rcs::common::Pose::Identity()) override {
+    PYBIND11_OVERRIDE_PURE(std::optional<rcs::common::VectorXd>,
+                           rcs::common::Kinematics, inverse, pose, q0,
+                           tcp_offset);
+  }
+
+  rcs::common::Pose forward(const rcs::common::VectorXd& q0,
+                            const rcs::common::Pose& tcp_offset) override {
+    PYBIND11_OVERRIDE_PURE(rcs::common::Pose, rcs::common::Kinematics, forward,
+                           q0, tcp_offset);
+  }
+};
+
 PYBIND11_MODULE(_core, m) {
   m.doc() = R"pbdoc(
         Robot Control Stack Python Bindings
@@ -296,8 +319,12 @@ PYBIND11_MODULE(_core, m) {
             return rcs::common::Pose(t);
           }));
 
-  py::class_<rcs::common::Kinematics, std::shared_ptr<rcs::common::Kinematics>>(
+  py::class_<rcs::common::Kinematics, PyKinematics,
+             std::shared_ptr<rcs::common::Kinematics>>(
+      // TODO: use line below when upgraded to pybind11 3.x
+      // py::class_<rcs::common::Kinematics, PyKinematics, py::smart_holder>(
       common, "Kinematics")
+      .def(py::init<>())
       .def("inverse", &rcs::common::Kinematics::inverse, py::arg("pose"),
            py::arg("q0"), py::arg("tcp_offset") = rcs::common::Pose::Identity())
       .def("forward", &rcs::common::Kinematics::forward, py::arg("q0"),