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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 float |
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#include "crocoddyl/multibody/data/impulses.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 DataCollectorImpulseVisitor |
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: public bp::def_visitor<DataCollectorImpulseVisitor<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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"impulses", |
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bp::make_getter(&Data::impulses, |
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bp::return_value_policy<bp::return_by_value>()), |
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"impulses data"); |
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} |
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}; |
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#define CROCODDYL_DATA_COLLECTOR_IMPULSE_PYTHON_BINDINGS(Scalar) \ |
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typedef DataCollectorImpulseTpl<Scalar> Data; \ |
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typedef DataCollectorAbstractTpl<Scalar> DataBase; \ |
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typedef ImpulseDataMultipleTpl<Scalar> ImpulseData; \ |
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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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"DataCollectorImpulse", "Impulse data collector.\n\n", \ |
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bp::init<std::shared_ptr<ImpulseData>>( \ |
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bp::args("self", "impulses"), \ |
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"Create impulse data collection.\n\n" \ |
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":param impulses: impulses data")) \ |
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.def(DataCollectorImpulseVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); |
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#define CROCODDYL_DATA_COLLECTOR_MULTIBODY_IMPULSE_PYTHON_BINDINGS(Scalar) \ |
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typedef DataCollectorMultibodyInImpulseTpl<Scalar> MData; \ |
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typedef DataCollectorMultibodyTpl<Scalar> MDataBase1; \ |
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typedef DataCollectorImpulseTpl<Scalar> MDataBase2; \ |
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typedef pinocchio::DataTpl<Scalar> PinocchioData; \ |
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typedef ImpulseDataMultipleTpl<Scalar> ImpulseData; \ |
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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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"DataCollectorMultibodyInImpulse", \ |
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"Data collector for multibody systems in impulse.\n\n", \ |
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bp::init<PinocchioData*, std::shared_ptr<ImpulseData>>( \ |
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bp::args("self", "pinocchio", "impulses"), \ |
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"Create multibody data collection.\n\n" \ |
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":param pinocchio: Pinocchio data\n" \ |
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":param impulses: impulses data")[bp::with_custodian_and_ward<1, \ |
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2>()]) \ |
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.def(CopyableVisitor<MData>()); |
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void exposeDataCollectorImpulses() { |
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CROCODDYL_DATA_COLLECTOR_IMPULSE_PYTHON_BINDINGS(float) |
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CROCODDYL_DATA_COLLECTOR_MULTIBODY_IMPULSE_PYTHON_BINDINGS(float) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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