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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, University of Edinburgh, Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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// Auto-generated file for double |
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#include "crocoddyl/multibody/data/contacts.hpp" |
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#include "python/crocoddyl/multibody/multibody.hpp" |
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namespace crocoddyl { |
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namespace python { |
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template <typename Data> |
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struct DataCollectorContactVisitor |
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: public bp::def_visitor<DataCollectorContactVisitor<Data>> { |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.add_property( |
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"contacts", |
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bp::make_getter(&Data::contacts, |
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bp::return_value_policy<bp::return_by_value>()), |
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"contacts data"); |
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} |
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}; |
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#define CROCODDYL_DATA_COLLECTOR_CONTACT_PYTHON_BINDINGS(Scalar) \ |
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typedef DataCollectorContactTpl<Scalar> Data; \ |
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typedef DataCollectorAbstractTpl<Scalar> DataBase; \ |
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typedef ContactDataMultipleTpl<Scalar> ContactData; \ |
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bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ |
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bp::class_<Data, bp::bases<DataBase>>( \ |
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"DataCollectorContact", "Contact data collector.\n\n", \ |
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bp::init<std::shared_ptr<ContactData>>( \ |
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bp::args("self", "contacts"), \ |
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"Create contact data collection.\n\n" \ |
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":param contacts: contacts data")) \ |
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.def(DataCollectorContactVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); |
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#define CROCODDYL_DATA_COLLECTOR_MULTIBODY_CONTACT_PYTHON_BINDINGS(Scalar) \ |
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typedef DataCollectorMultibodyInContactTpl<Scalar> MData; \ |
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typedef DataCollectorMultibodyTpl<Scalar> MDataBase1; \ |
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typedef DataCollectorContactTpl<Scalar> MDataBase2; \ |
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typedef pinocchio::DataTpl<Scalar> PinocchioData; \ |
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typedef ContactDataMultipleTpl<Scalar> ContactData; \ |
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bp::register_ptr_to_python<std::shared_ptr<MData>>(); \ |
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bp::class_<MData, bp::bases<MDataBase1, MDataBase2>>( \ |
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"DataCollectorMultibodyInContact", \ |
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"Data collector for multibody systems in contact.\n\n", \ |
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bp::init<PinocchioData*, std::shared_ptr<ContactData>>( \ |
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bp::args("self", "pinocchio", "contacts"), \ |
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"Create multibody data collection.\n\n" \ |
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":param pinocchio: Pinocchio data\n" \ |
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":param contacts: contacts data")[bp::with_custodian_and_ward<1, \ |
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2>()]) \ |
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.def(CopyableVisitor<MData>()); |
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#define CROCODDYL_DATA_COLLECTOR_ACTMULTIBODY_CONTACT_PYTHON_BINDINGS(Scalar) \ |
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typedef DataCollectorActMultibodyInContactTpl<Scalar> AMData; \ |
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typedef DataCollectorMultibodyInContactTpl<Scalar> AMDataBase1; \ |
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typedef DataCollectorActuationTpl<Scalar> AMDataBase2; \ |
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typedef pinocchio::DataTpl<Scalar> PinocchioData; \ |
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typedef ActuationDataAbstractTpl<Scalar> ActuationData; \ |
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typedef ContactDataMultipleTpl<Scalar> ContactData; \ |
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bp::register_ptr_to_python<std::shared_ptr<AMData>>(); \ |
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bp::class_<AMData, bp::bases<AMDataBase1, AMDataBase2>>( \ |
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"DataCollectorActMultibodyInContact", \ |
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"Data collector for actuated multibody systems in contact.\n\n", \ |
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bp::init<PinocchioData*, std::shared_ptr<ActuationData>, \ |
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std::shared_ptr<ContactData>>( \ |
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bp::args("self", "pinocchio", "actuation", "contacts"), \ |
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"Create multibody data collection.\n\n" \ |
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":param pinocchio: Pinocchio data\n" \ |
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":param actuation: actuation data\n" \ |
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":param contacts: contacts data")[bp::with_custodian_and_ward<1, \ |
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2>()]) \ |
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.def(CopyableVisitor<AMData>()); |
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#define CROCODDYL_DATA_COLLECTOR_JOINT_ACTMULTIBODY_CONTACT_PYTHON_BINDINGS( \ |
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Scalar) \ |
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typedef DataCollectorJointActMultibodyInContactTpl<Scalar> JAMData; \ |
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typedef DataCollectorMultibodyInContactTpl<Scalar> JAMDataBase1; \ |
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typedef DataCollectorActuationTpl<Scalar> JAMDataBase2; \ |
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typedef pinocchio::DataTpl<Scalar> PinocchioData; \ |
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typedef ActuationDataAbstractTpl<Scalar> ActuationData; \ |
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typedef JointDataAbstractTpl<Scalar> JointData; \ |
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typedef ContactDataMultipleTpl<Scalar> ContactData; \ |
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bp::register_ptr_to_python<std::shared_ptr<JAMData>>(); \ |
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bp::class_<JAMData, bp::bases<JAMDataBase1, JAMDataBase2>>( \ |
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"DataCollectorJointActMultibodyInContact", \ |
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"Data collector for actuated-joint multibody systems in contact.\n\n", \ |
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bp::init<PinocchioData*, std::shared_ptr<ActuationData>, \ |
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std::shared_ptr<JointData>, std::shared_ptr<ContactData>>( \ |
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bp::args("self", "pinocchio", "actuation", "joint", "contacts"), \ |
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"Create multibody data collection.\n\n" \ |
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":param pinocchio: Pinocchio data\n" \ |
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":param actuation: actuation data\n" \ |
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":param joint: joint data\n" \ |
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":param contacts: contacts data")[bp::with_custodian_and_ward<1, \ |
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2>()]) \ |
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.def(CopyableVisitor<JAMData>()); |
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void exposeDataCollectorContacts() { |
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CROCODDYL_DATA_COLLECTOR_CONTACT_PYTHON_BINDINGS(double) |
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CROCODDYL_DATA_COLLECTOR_MULTIBODY_CONTACT_PYTHON_BINDINGS(double) |
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CROCODDYL_DATA_COLLECTOR_ACTMULTIBODY_CONTACT_PYTHON_BINDINGS(double) |
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CROCODDYL_DATA_COLLECTOR_JOINT_ACTMULTIBODY_CONTACT_PYTHON_BINDINGS(double) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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