| Line | Branch | Exec | Source |
|---|---|---|---|
| 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 | // Auto-generated file for float | ||
| 10 | #include "python/crocoddyl/multibody/multibody.hpp" | ||
| 11 | |||
| 12 | #include "crocoddyl/multibody/data/multibody.hpp" | ||
| 13 | |||
| 14 | namespace crocoddyl { | ||
| 15 | namespace python { | ||
| 16 | |||
| 17 | template <typename Data> | ||
| 18 | struct DataCollectorMultibodyVisitor | ||
| 19 | : public bp::def_visitor<DataCollectorMultibodyVisitor<Data>> { | ||
| 20 | template <class PyClass> | ||
| 21 | ✗ | void visit(PyClass& cl) const { | |
| 22 | ✗ | cl.add_property( | |
| 23 | "pinocchio", | ||
| 24 | ✗ | bp::make_getter(&Data::pinocchio, bp::return_internal_reference<>()), | |
| 25 | "pinocchio data"); | ||
| 26 | ✗ | } | |
| 27 | }; | ||
| 28 | |||
| 29 | #define CROCODDYL_DATA_COLLECTOR_MULTIBODY_PYTHON_BINDINGS(Scalar) \ | ||
| 30 | typedef DataCollectorMultibodyTpl<Scalar> Data; \ | ||
| 31 | typedef DataCollectorAbstractTpl<Scalar> DataBase; \ | ||
| 32 | typedef pinocchio::DataTpl<Scalar> PinocchioData; \ | ||
| 33 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 34 | bp::class_<Data, bp::bases<DataBase>>( \ | ||
| 35 | "DataCollectorMultibody", "Data collector for multibody systems.\n\n", \ | ||
| 36 | bp::init<PinocchioData*>( \ | ||
| 37 | bp::args("self", "pinocchio"), \ | ||
| 38 | "Create multibody data collection.\n\n" \ | ||
| 39 | ":param data: Pinocchio data")[bp::with_custodian_and_ward<1, 2>()]) \ | ||
| 40 | .def(DataCollectorMultibodyVisitor<Data>()) \ | ||
| 41 | .def(CopyableVisitor<Data>()); | ||
| 42 | |||
| 43 | #define CROCODDYL_DATA_COLLECTOR_ACTMULTIBODY_PYTHON_BINDINGS(Scalar) \ | ||
| 44 | typedef DataCollectorActMultibodyTpl<Scalar> AData; \ | ||
| 45 | typedef DataCollectorMultibodyTpl<Scalar> ADataBase1; \ | ||
| 46 | typedef DataCollectorActuationTpl<Scalar> ADataBase2; \ | ||
| 47 | typedef pinocchio::DataTpl<Scalar> PinocchioData; \ | ||
| 48 | typedef ActuationDataAbstractTpl<Scalar> ActuationData; \ | ||
| 49 | bp::register_ptr_to_python<std::shared_ptr<AData>>(); \ | ||
| 50 | bp::class_<AData, bp::bases<ADataBase1, ADataBase2>>( \ | ||
| 51 | "DataCollectorActMultibody", \ | ||
| 52 | "Data collector for actuated multibody systems.\n\n", \ | ||
| 53 | bp::init<PinocchioData*, std::shared_ptr<ActuationData>>( \ | ||
| 54 | bp::args("self", "pinocchio", "actuation"), \ | ||
| 55 | "Create multibody data collection.\n\n" \ | ||
| 56 | ":param pinocchio: Pinocchio data\n" \ | ||
| 57 | ":param actuation: actuation data") \ | ||
| 58 | [bp::with_custodian_and_ward<1, 2>()]) \ | ||
| 59 | .def(CopyableVisitor<AData>()); | ||
| 60 | |||
| 61 | #define CROCODDYL_DATA_COLLECTOR_JOINT_ACTMULTIBODY_PYTHON_BINDINGS(Scalar) \ | ||
| 62 | typedef DataCollectorJointActMultibodyTpl<Scalar> JAData; \ | ||
| 63 | typedef DataCollectorActMultibodyTpl<Scalar> JADataBase1; \ | ||
| 64 | typedef DataCollectorJointTpl<Scalar> JADataBase2; \ | ||
| 65 | typedef pinocchio::DataTpl<Scalar> PinocchioData; \ | ||
| 66 | typedef ActuationDataAbstractTpl<Scalar> ActuationData; \ | ||
| 67 | typedef JointDataAbstractTpl<Scalar> JointData; \ | ||
| 68 | bp::register_ptr_to_python<std::shared_ptr<JAData>>(); \ | ||
| 69 | bp::class_<JAData, bp::bases<JADataBase1, JADataBase2>>( \ | ||
| 70 | "DataCollectorJointActMultibody", \ | ||
| 71 | "Data collector for actuated-joint multibody systems.\n\n", \ | ||
| 72 | bp::init<PinocchioData*, std::shared_ptr<ActuationData>, \ | ||
| 73 | std::shared_ptr<JointData>>( \ | ||
| 74 | bp::args("self", "pinocchio", "actuation", "joint"), \ | ||
| 75 | "Create multibody data collection.\n\n" \ | ||
| 76 | ":param pinocchio: Pinocchio data\n" \ | ||
| 77 | ":param actuation: actuation data\n" \ | ||
| 78 | ":param joint: joint data")[bp::with_custodian_and_ward<1, 2>()]) \ | ||
| 79 | .def(CopyableVisitor<JAData>()); | ||
| 80 | |||
| 81 | ✗ | void exposeDataCollectorMultibody() { | |
| 82 | ✗ | CROCODDYL_DATA_COLLECTOR_MULTIBODY_PYTHON_BINDINGS(float) | |
| 83 | ✗ | CROCODDYL_DATA_COLLECTOR_ACTMULTIBODY_PYTHON_BINDINGS(float) | |
| 84 | ✗ | CROCODDYL_DATA_COLLECTOR_JOINT_ACTMULTIBODY_PYTHON_BINDINGS(float) | |
| 85 | ✗ | } | |
| 86 | |||
| 87 | } // namespace python | ||
| 88 | } // namespace crocoddyl | ||
| 89 |