| Directory: | ./ |
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| File: | bindings/python/crocoddyl/multibody/data/multibody.cpp |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 9 | 9 | 100.0% |
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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 "python/crocoddyl/multibody/multibody.hpp" | ||
| 10 | |||
| 11 | #include "crocoddyl/multibody/data/multibody.hpp" | ||
| 12 | |||
| 13 | namespace crocoddyl { | ||
| 14 | namespace python { | ||
| 15 | |||
| 16 | template <typename Data> | ||
| 17 | struct DataCollectorMultibodyVisitor | ||
| 18 | : public bp::def_visitor<DataCollectorMultibodyVisitor<Data>> { | ||
| 19 | template <class PyClass> | ||
| 20 | 40 | void visit(PyClass& cl) const { | |
| 21 |
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40 | cl.add_property( |
| 22 | "pinocchio", | ||
| 23 | 40 | bp::make_getter(&Data::pinocchio, bp::return_internal_reference<>()), | |
| 24 | "pinocchio data"); | ||
| 25 | 40 | } | |
| 26 | }; | ||
| 27 | |||
| 28 | #define CROCODDYL_DATA_COLLECTOR_MULTIBODY_PYTHON_BINDINGS(Scalar) \ | ||
| 29 | typedef DataCollectorMultibodyTpl<Scalar> Data; \ | ||
| 30 | typedef DataCollectorAbstractTpl<Scalar> DataBase; \ | ||
| 31 | typedef pinocchio::DataTpl<Scalar> PinocchioData; \ | ||
| 32 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 33 | bp::class_<Data, bp::bases<DataBase>>( \ | ||
| 34 | "DataCollectorMultibody", "Data collector for multibody systems.\n\n", \ | ||
| 35 | bp::init<PinocchioData*>( \ | ||
| 36 | bp::args("self", "pinocchio"), \ | ||
| 37 | "Create multibody data collection.\n\n" \ | ||
| 38 | ":param data: Pinocchio data")[bp::with_custodian_and_ward<1, 2>()]) \ | ||
| 39 | .def(DataCollectorMultibodyVisitor<Data>()) \ | ||
| 40 | .def(CopyableVisitor<Data>()); | ||
| 41 | |||
| 42 | #define CROCODDYL_DATA_COLLECTOR_ACTMULTIBODY_PYTHON_BINDINGS(Scalar) \ | ||
| 43 | typedef DataCollectorActMultibodyTpl<Scalar> Data; \ | ||
| 44 | typedef DataCollectorMultibodyTpl<Scalar> DataBase1; \ | ||
| 45 | typedef DataCollectorActuationTpl<Scalar> DataBase2; \ | ||
| 46 | typedef pinocchio::DataTpl<Scalar> PinocchioData; \ | ||
| 47 | typedef ActuationDataAbstractTpl<Scalar> ActuationData; \ | ||
| 48 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 49 | bp::class_<Data, bp::bases<DataBase1, DataBase2>>( \ | ||
| 50 | "DataCollectorActMultibody", \ | ||
| 51 | "Data collector for actuated multibody systems.\n\n", \ | ||
| 52 | bp::init<PinocchioData*, std::shared_ptr<ActuationData>>( \ | ||
| 53 | bp::args("self", "pinocchio", "actuation"), \ | ||
| 54 | "Create multibody data collection.\n\n" \ | ||
| 55 | ":param pinocchio: Pinocchio data\n" \ | ||
| 56 | ":param actuation: actuation data") \ | ||
| 57 | [bp::with_custodian_and_ward<1, 2>()]) \ | ||
| 58 | .def(CopyableVisitor<Data>()); | ||
| 59 | |||
| 60 | #define CROCODDYL_DATA_COLLECTOR_JOINT_ACTMULTIBODY_PYTHON_BINDINGS(Scalar) \ | ||
| 61 | typedef DataCollectorJointActMultibodyTpl<Scalar> Data; \ | ||
| 62 | typedef DataCollectorActMultibodyTpl<Scalar> DataBase1; \ | ||
| 63 | typedef DataCollectorJointTpl<Scalar> DataBase2; \ | ||
| 64 | typedef pinocchio::DataTpl<Scalar> PinocchioData; \ | ||
| 65 | typedef ActuationDataAbstractTpl<Scalar> ActuationData; \ | ||
| 66 | typedef JointDataAbstractTpl<Scalar> JointData; \ | ||
| 67 | bp::register_ptr_to_python<std::shared_ptr<Data>>(); \ | ||
| 68 | bp::class_<Data, bp::bases<DataBase1, DataBase2>>( \ | ||
| 69 | "DataCollectorJointActMultibody", \ | ||
| 70 | "Data collector for actuated-joint multibody systems.\n\n", \ | ||
| 71 | bp::init<PinocchioData*, std::shared_ptr<ActuationData>, \ | ||
| 72 | std::shared_ptr<JointData>>( \ | ||
| 73 | bp::args("self", "pinocchio", "actuation", "joint"), \ | ||
| 74 | "Create multibody data collection.\n\n" \ | ||
| 75 | ":param pinocchio: Pinocchio data\n" \ | ||
| 76 | ":param actuation: actuation data\n" \ | ||
| 77 | ":param joint: joint data")[bp::with_custodian_and_ward<1, 2>()]) \ | ||
| 78 | .def(CopyableVisitor<Data>()); | ||
| 79 | |||
| 80 | 10 | void exposeDataCollectorMultibody() { | |
| 81 |
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20 | CROCODDYL_PYTHON_SCALARS(CROCODDYL_DATA_COLLECTOR_MULTIBODY_PYTHON_BINDINGS) |
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20 | CROCODDYL_PYTHON_SCALARS( |
| 83 | CROCODDYL_DATA_COLLECTOR_ACTMULTIBODY_PYTHON_BINDINGS) | ||
| 84 |
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20 | CROCODDYL_PYTHON_SCALARS( |
| 85 | CROCODDYL_DATA_COLLECTOR_JOINT_ACTMULTIBODY_PYTHON_BINDINGS) | ||
| 86 | 10 | } | |
| 87 | |||
| 88 | } // namespace python | ||
| 89 | } // namespace crocoddyl | ||
| 90 |