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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 double |
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#include "python/crocoddyl/multibody/multibody.hpp" |
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#include "crocoddyl/multibody/data/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 DataCollectorMultibodyVisitor |
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: public bp::def_visitor<DataCollectorMultibodyVisitor<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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"pinocchio", |
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bp::make_getter(&Data::pinocchio, bp::return_internal_reference<>()), |
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"pinocchio data"); |
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} |
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}; |
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#define CROCODDYL_DATA_COLLECTOR_MULTIBODY_PYTHON_BINDINGS(Scalar) \ |
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typedef DataCollectorMultibodyTpl<Scalar> Data; \ |
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typedef DataCollectorAbstractTpl<Scalar> DataBase; \ |
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typedef pinocchio::DataTpl<Scalar> PinocchioData; \ |
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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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"DataCollectorMultibody", "Data collector for multibody systems.\n\n", \ |
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bp::init<PinocchioData*>( \ |
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bp::args("self", "pinocchio"), \ |
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"Create multibody data collection.\n\n" \ |
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":param data: Pinocchio data")[bp::with_custodian_and_ward<1, 2>()]) \ |
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.def(DataCollectorMultibodyVisitor<Data>()) \ |
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.def(CopyableVisitor<Data>()); |
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#define CROCODDYL_DATA_COLLECTOR_ACTMULTIBODY_PYTHON_BINDINGS(Scalar) \ |
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typedef DataCollectorActMultibodyTpl<Scalar> AData; \ |
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typedef DataCollectorMultibodyTpl<Scalar> ADataBase1; \ |
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typedef DataCollectorActuationTpl<Scalar> ADataBase2; \ |
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typedef pinocchio::DataTpl<Scalar> PinocchioData; \ |
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typedef ActuationDataAbstractTpl<Scalar> ActuationData; \ |
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bp::register_ptr_to_python<std::shared_ptr<AData>>(); \ |
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bp::class_<AData, bp::bases<ADataBase1, ADataBase2>>( \ |
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"DataCollectorActMultibody", \ |
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"Data collector for actuated multibody systems.\n\n", \ |
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bp::init<PinocchioData*, std::shared_ptr<ActuationData>>( \ |
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bp::args("self", "pinocchio", "actuation"), \ |
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"Create multibody data collection.\n\n" \ |
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":param pinocchio: Pinocchio data\n" \ |
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":param actuation: actuation data") \ |
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[bp::with_custodian_and_ward<1, 2>()]) \ |
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.def(CopyableVisitor<AData>()); |
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#define CROCODDYL_DATA_COLLECTOR_JOINT_ACTMULTIBODY_PYTHON_BINDINGS(Scalar) \ |
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typedef DataCollectorJointActMultibodyTpl<Scalar> JAData; \ |
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typedef DataCollectorActMultibodyTpl<Scalar> JADataBase1; \ |
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typedef DataCollectorJointTpl<Scalar> JADataBase2; \ |
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typedef pinocchio::DataTpl<Scalar> PinocchioData; \ |
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typedef ActuationDataAbstractTpl<Scalar> ActuationData; \ |
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typedef JointDataAbstractTpl<Scalar> JointData; \ |
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bp::register_ptr_to_python<std::shared_ptr<JAData>>(); \ |
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bp::class_<JAData, bp::bases<JADataBase1, JADataBase2>>( \ |
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"DataCollectorJointActMultibody", \ |
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"Data collector for actuated-joint multibody systems.\n\n", \ |
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bp::init<PinocchioData*, std::shared_ptr<ActuationData>, \ |
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std::shared_ptr<JointData>>( \ |
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bp::args("self", "pinocchio", "actuation", "joint"), \ |
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"Create multibody data collection.\n\n" \ |
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":param pinocchio: Pinocchio data\n" \ |
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":param actuation: actuation data\n" \ |
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":param joint: joint data")[bp::with_custodian_and_ward<1, 2>()]) \ |
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.def(CopyableVisitor<JAData>()); |
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void exposeDataCollectorMultibody() { |
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CROCODDYL_DATA_COLLECTOR_MULTIBODY_PYTHON_BINDINGS(double) |
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CROCODDYL_DATA_COLLECTOR_ACTMULTIBODY_PYTHON_BINDINGS(double) |
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CROCODDYL_DATA_COLLECTOR_JOINT_ACTMULTIBODY_PYTHON_BINDINGS(double) |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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