| Directory: | ./ |
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| File: | bindings/python/crocoddyl/multibody/data/impulses.cpp |
| Date: | 2025-03-26 19:23:43 |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, 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 | |||
| 13 | namespace crocoddyl { | ||
| 14 | namespace python { | ||
| 15 | |||
| 16 | template <typename Data> | ||
| 17 | struct DataCollectorImpulseVisitor | ||
| 18 | : public bp::def_visitor<DataCollectorImpulseVisitor<Data>> { | ||
| 19 | template <class PyClass> | ||
| 20 | 40 | void visit(PyClass& cl) const { | |
| 21 |
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40 | cl.add_property( |
| 22 | "impulses", | ||
| 23 | bp::make_getter(&Data::impulses, | ||
| 24 | 40 | bp::return_value_policy<bp::return_by_value>()), | |
| 25 | "impulses data"); | ||
| 26 | 40 | } | |
| 27 | }; | ||
| 28 | |||
| 29 | #define CROCODDYL_DATA_COLLECTOR_IMPULSE_PYTHON_BINDINGS(Scalar) \ | ||
| 30 | typedef DataCollectorImpulseTpl<Scalar> Data; \ | ||
| 31 | typedef DataCollectorAbstractTpl<Scalar> DataBase; \ | ||
| 32 | typedef ImpulseDataMultipleTpl<Scalar> ImpulseData; \ | ||
| 33 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 34 | bp::class_<Data, bp::bases<DataBase>>( \ | ||
| 35 | "DataCollectorImpulse", "Impulse data collector.\n\n", \ | ||
| 36 | bp::init<std::shared_ptr<ImpulseData>>( \ | ||
| 37 | bp::args("self", "impulses"), \ | ||
| 38 | "Create impulse data collection.\n\n" \ | ||
| 39 | ":param impulses: impulses data")) \ | ||
| 40 | .def(DataCollectorImpulseVisitor<Data>()) \ | ||
| 41 | .def(CopyableVisitor<Data>()); | ||
| 42 | |||
| 43 | #define CROCODDYL_DATA_COLLECTOR_MULTIBODY_IMPULSE_PYTHON_BINDINGS(Scalar) \ | ||
| 44 | typedef DataCollectorMultibodyInImpulseTpl<Scalar> Data; \ | ||
| 45 | typedef DataCollectorMultibodyTpl<Scalar> DataBase1; \ | ||
| 46 | typedef DataCollectorImpulseTpl<Scalar> DataBase2; \ | ||
| 47 | typedef pinocchio::DataTpl<Scalar> PinocchioData; \ | ||
| 48 | typedef ImpulseDataMultipleTpl<Scalar> ImpulseData; \ | ||
| 49 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 50 | bp::class_<Data, bp::bases<DataBase1, DataBase2>>( \ | ||
| 51 | "DataCollectorMultibodyInImpulse", \ | ||
| 52 | "Data collector for multibody systems in impulse.\n\n", \ | ||
| 53 | bp::init<PinocchioData*, std::shared_ptr<ImpulseData>>( \ | ||
| 54 | bp::args("self", "pinocchio", "impulses"), \ | ||
| 55 | "Create multibody data collection.\n\n" \ | ||
| 56 | ":param pinocchio: Pinocchio data\n" \ | ||
| 57 | ":param impulses: impulses data")[bp::with_custodian_and_ward<1, \ | ||
| 58 | 2>()]) \ | ||
| 59 | .def(CopyableVisitor<Data>()); | ||
| 60 | |||
| 61 | 10 | void exposeDataCollectorImpulses() { | |
| 62 |
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20 | CROCODDYL_PYTHON_SCALARS(CROCODDYL_DATA_COLLECTOR_IMPULSE_PYTHON_BINDINGS) |
| 63 |
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20 | CROCODDYL_PYTHON_SCALARS( |
| 64 | CROCODDYL_DATA_COLLECTOR_MULTIBODY_IMPULSE_PYTHON_BINDINGS) | ||
| 65 | 10 | } | |
| 66 | |||
| 67 | } // namespace python | ||
| 68 | } // namespace crocoddyl | ||
| 69 |