momentum/pymomentum/tensor_momentum/tensor_skeleton_state.h at a2a967486c02e025fd8678964c24d647871bbdb1 · facebookresearch/momentum · GitHub

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/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 */

#pragma once

#include <momentum/character/fwd.h>

#include <ATen/ATen.h>
#include <pybind11/pybind11.h>

namespace pymomentum {

at::Tensor modelParametersToSkeletonState(pybind11::object characters, at::Tensor modelParams);

at::Tensor modelParametersToLocalSkeletonState(pybind11::object characters, at::Tensor modelParams);

at::Tensor jointParametersToSkeletonState(pybind11::object characters, at::Tensor jointParams);

at::Tensor jointParametersToLocalSkeletonState(pybind11::object characters, at::Tensor jointParams);

at::Tensor skeletonStateToJointParameters(
    const momentum::Character& character,
    at::Tensor skel_state);

at::Tensor localSkeletonStateToJointParameters(
    const momentum::Character& character,
    at::Tensor skel_state);

at::Tensor matricesToSkeletonStates(at::Tensor matrices);

} // namespace pymomentum