| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2025, University of Edinburgh, Heriot-Watt University | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | // Auto-generated file for double | ||
| 10 | #include "crocoddyl/multibody/cop-support.hpp" | ||
| 11 | |||
| 12 | #include "python/crocoddyl/multibody/multibody.hpp" | ||
| 13 | |||
| 14 | namespace crocoddyl { | ||
| 15 | namespace python { | ||
| 16 | |||
| 17 | template <typename Model> | ||
| 18 | struct CoPSupportVisitor : public bp::def_visitor<CoPSupportVisitor<Model>> { | ||
| 19 | template <class PyClass> | ||
| 20 | ✗ | void visit(PyClass& cl) const { | |
| 21 | ✗ | cl.def(bp::init<>(bp::args("self"), | |
| 22 | "Default initialization of the CoP support.")) | ||
| 23 | ✗ | .def("update", &Model::update, bp::args("self"), | |
| 24 | "Update the linear inequality (matrix and bounds).\n\n" | ||
| 25 | "Run this function if you have changed one of the parameters.") | ||
| 26 | ✗ | .add_property( | |
| 27 | "A", | ||
| 28 | ✗ | bp::make_function(&Model::get_A, bp::return_internal_reference<>()), | |
| 29 | "inequality matrix") | ||
| 30 | ✗ | .add_property("ub", | |
| 31 | bp::make_function(&Model::get_ub, | ||
| 32 | ✗ | bp::return_internal_reference<>()), | |
| 33 | "inequality upper bound") | ||
| 34 | ✗ | .add_property("lb", | |
| 35 | bp::make_function(&Model::get_lb, | ||
| 36 | ✗ | bp::return_internal_reference<>()), | |
| 37 | "inequality lower bound") | ||
| 38 | ✗ | .add_property( | |
| 39 | "R", | ||
| 40 | ✗ | bp::make_function(&Model::get_R, bp::return_internal_reference<>()), | |
| 41 | bp::make_function(&Model::set_R), "rotation matrix") | ||
| 42 | ✗ | .add_property("box", | |
| 43 | bp::make_function(&Model::get_box, | ||
| 44 | ✗ | bp::return_internal_reference<>()), | |
| 45 | bp::make_function(&Model::set_box), | ||
| 46 | "box size used to define the sole"); | ||
| 47 | ✗ | } | |
| 48 | }; | ||
| 49 | |||
| 50 | #define CROCODDYL_COP_SUPPORT_PYTHON_BINDINGS(Scalar) \ | ||
| 51 | typedef CoPSupportTpl<Scalar> Model; \ | ||
| 52 | typedef typename Model::Matrix3s Matrix3s; \ | ||
| 53 | typedef typename Model::Vector2s Vector2s; \ | ||
| 54 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 55 | bp::class_<Model>( \ | ||
| 56 | "CoPSupport", "Model of the CoP support as lb <= Af <= ub", \ | ||
| 57 | bp::init<Matrix3s, Vector2s>( \ | ||
| 58 | bp::args("self", "R", "box"), \ | ||
| 59 | "Initialize the CoP support.\n\n" \ | ||
| 60 | ":param R: rotation matrix that defines the cone orientation\n" \ | ||
| 61 | ":param box: dimension of the foot surface dim = (length, " \ | ||
| 62 | "width)\n")) \ | ||
| 63 | .def(CoPSupportVisitor<Model>()) \ | ||
| 64 | .def(CastVisitor<Model>()) \ | ||
| 65 | .def(PrintableVisitor<Model>()) \ | ||
| 66 | .def(CopyableVisitor<Model>()); | ||
| 67 | |||
| 68 | ✗ | void exposeCoPSupport() { | |
| 69 | #pragma GCC diagnostic push // TODO: Remove once the deprecated update call has | ||
| 70 | // been removed in a future release | ||
| 71 | #pragma GCC diagnostic ignored "-Wdeprecated-declarations" | ||
| 72 | |||
| 73 | ✗ | CROCODDYL_COP_SUPPORT_PYTHON_BINDINGS(double) | |
| 74 | |||
| 75 | #pragma GCC diagnostic pop | ||
| 76 | ✗ | } | |
| 77 | |||
| 78 | } // namespace python | ||
| 79 | } // namespace crocoddyl | ||
| 80 |