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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2021-2025, 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 float |
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#include "crocoddyl/multibody/cop-support.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 Model> |
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struct CoPSupportVisitor : public bp::def_visitor<CoPSupportVisitor<Model>> { |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.def(bp::init<>(bp::args("self"), |
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"Default initialization of the CoP support.")) |
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.def("update", &Model::update, bp::args("self"), |
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"Update the linear inequality (matrix and bounds).\n\n" |
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"Run this function if you have changed one of the parameters.") |
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.add_property( |
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"A", |
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bp::make_function(&Model::get_A, bp::return_internal_reference<>()), |
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"inequality matrix") |
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.add_property("ub", |
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bp::make_function(&Model::get_ub, |
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bp::return_internal_reference<>()), |
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"inequality upper bound") |
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.add_property("lb", |
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bp::make_function(&Model::get_lb, |
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bp::return_internal_reference<>()), |
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"inequality lower bound") |
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.add_property( |
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"R", |
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bp::make_function(&Model::get_R, bp::return_internal_reference<>()), |
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bp::make_function(&Model::set_R), "rotation matrix") |
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.add_property("box", |
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bp::make_function(&Model::get_box, |
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bp::return_internal_reference<>()), |
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bp::make_function(&Model::set_box), |
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"box size used to define the sole"); |
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} |
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}; |
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#define CROCODDYL_COP_SUPPORT_PYTHON_BINDINGS(Scalar) \ |
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typedef CoPSupportTpl<Scalar> Model; \ |
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typedef typename Model::Matrix3s Matrix3s; \ |
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typedef typename Model::Vector2s Vector2s; \ |
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bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ |
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bp::class_<Model>( \ |
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"CoPSupport", "Model of the CoP support as lb <= Af <= ub", \ |
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bp::init<Matrix3s, Vector2s>( \ |
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bp::args("self", "R", "box"), \ |
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"Initialize the CoP support.\n\n" \ |
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":param R: rotation matrix that defines the cone orientation\n" \ |
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":param box: dimension of the foot surface dim = (length, " \ |
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"width)\n")) \ |
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.def(CoPSupportVisitor<Model>()) \ |
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.def(CastVisitor<Model>()) \ |
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.def(PrintableVisitor<Model>()) \ |
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.def(CopyableVisitor<Model>()); |
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void exposeCoPSupport() { |
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#pragma GCC diagnostic push // TODO: Remove once the deprecated update call has |
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// been removed in a future release |
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#pragma GCC diagnostic ignored "-Wdeprecated-declarations" |
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CROCODDYL_COP_SUPPORT_PYTHON_BINDINGS(float) |
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#pragma GCC diagnostic pop |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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