| Directory: | ./ |
|---|---|
| File: | bindings/python/crocoddyl/multibody/data/impulses.cpp |
| Date: | 2025-01-16 08:47:40 |
| Exec | Total | Coverage | |
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| Lines: | 14 | 15 | 93.3% |
| Branches: | 9 | 18 | 50.0% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2023, University of Edinburgh, Heriot-Watt University | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #include "crocoddyl/multibody/data/impulses.hpp" | ||
| 10 | |||
| 11 | #include "python/crocoddyl/multibody/multibody.hpp" | ||
| 12 | #include "python/crocoddyl/utils/copyable.hpp" | ||
| 13 | |||
| 14 | namespace crocoddyl { | ||
| 15 | namespace python { | ||
| 16 | |||
| 17 | 10 | void exposeDataCollectorImpulses() { | |
| 18 |
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10 | bp::class_<DataCollectorImpulse, bp::bases<DataCollectorAbstract> >( |
| 19 | "DataCollectorImpulse", "Impulse data collector.\n\n", | ||
| 20 |
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10 | bp::init<boost::shared_ptr<ImpulseDataMultiple> >( |
| 21 | 20 | bp::args("self", "impulses"), | |
| 22 | "Create impulse data collection.\n\n" | ||
| 23 | ":param impulses: impulses data")) | ||
| 24 |
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10 | .add_property( |
| 25 | "impulses", | ||
| 26 |
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10 | bp::make_getter(&DataCollectorImpulse::impulses, |
| 27 | 10 | bp::return_value_policy<bp::return_by_value>()), | |
| 28 | "impulses data") | ||
| 29 |
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10 | .def(CopyableVisitor<DataCollectorImpulse>()); |
| 30 | |||
| 31 |
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10 | bp::class_<DataCollectorMultibodyInImpulse, |
| 32 | bp::bases<DataCollectorMultibody, DataCollectorImpulse> >( | ||
| 33 | "DataCollectorMultibodyInImpulse", | ||
| 34 | "Data collector for multibody systems in impulse.\n\n", | ||
| 35 |
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10 | bp::init<pinocchio::Data*, boost::shared_ptr<ImpulseDataMultiple> >( |
| 36 | 10 | bp::args("self", "pinocchio", "impulses"), | |
| 37 | "Create multibody data collection.\n\n" | ||
| 38 | ":param pinocchio: Pinocchio data\n" | ||
| 39 | ✗ | ":param impulses: impulses data")[bp::with_custodian_and_ward<1, | |
| 40 |
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20 | 2>()]) |
| 41 |
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10 | .def(CopyableVisitor<DataCollectorMultibodyInImpulse>()); |
| 42 | 10 | } | |
| 43 | |||
| 44 | } // namespace python | ||
| 45 | } // namespace crocoddyl | ||
| 46 |