| Directory: | ./ |
|---|---|
| File: | bindings/python/crocoddyl/multibody/data/multibody.cpp |
| Date: | 2025-01-16 08:47:40 |
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| Lines: | 20 | 21 | 95.2% |
| Branches: | 14 | 28 | 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 "python/crocoddyl/multibody/multibody.hpp" | ||
| 10 | |||
| 11 | #include "crocoddyl/multibody/data/multibody.hpp" | ||
| 12 | #include "python/crocoddyl/utils/copyable.hpp" | ||
| 13 | |||
| 14 | namespace crocoddyl { | ||
| 15 | namespace python { | ||
| 16 | |||
| 17 | 10 | void exposeDataCollectorMultibody() { | |
| 18 |
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10 | bp::class_<DataCollectorMultibody, bp::bases<DataCollectorAbstract> >( |
| 19 | "DataCollectorMultibody", "Data collector for multibody systems.\n\n", | ||
| 20 |
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10 | bp::init<pinocchio::Data*>( |
| 21 | 10 | bp::args("self", "pinocchio"), | |
| 22 | "Create multibody data collection.\n\n" | ||
| 23 |
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20 | ":param data: Pinocchio data")[bp::with_custodian_and_ward<1, 2>()]) |
| 24 |
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10 | .add_property("pinocchio", |
| 25 |
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10 | bp::make_getter(&DataCollectorMultibody::pinocchio, |
| 26 | 10 | bp::return_internal_reference<>()), | |
| 27 | "pinocchio data") | ||
| 28 |
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10 | .def(CopyableVisitor<DataCollectorMultibody>()); |
| 29 | |||
| 30 |
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10 | bp::class_<DataCollectorActMultibody, |
| 31 | bp::bases<DataCollectorMultibody, DataCollectorActuation> >( | ||
| 32 | "DataCollectorActMultibody", | ||
| 33 | "Data collector for actuated multibody systems.\n\n", | ||
| 34 |
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10 | bp::init<pinocchio::Data*, boost::shared_ptr<ActuationDataAbstract> >( |
| 35 | 10 | bp::args("self", "pinocchio", "actuation"), | |
| 36 | "Create multibody data collection.\n\n" | ||
| 37 | ":param pinocchio: Pinocchio data\n" | ||
| 38 | ✗ | ":param actuation: actuation data")[bp::with_custodian_and_ward<1, | |
| 39 |
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20 | 2>()]) |
| 40 |
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10 | .def(CopyableVisitor<DataCollectorActMultibody>()); |
| 41 | |||
| 42 |
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10 | bp::class_<DataCollectorJointActMultibody, |
| 43 | bp::bases<DataCollectorActMultibody, DataCollectorJoint> >( | ||
| 44 | "DataCollectorJointActMultibody", | ||
| 45 | "Data collector for actuated-joint multibody systems.\n\n", | ||
| 46 |
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10 | bp::init<pinocchio::Data*, boost::shared_ptr<ActuationDataAbstract>, |
| 47 | boost::shared_ptr<JointDataAbstract> >( | ||
| 48 | 10 | bp::args("self", "pinocchio", "actuation", "joint"), | |
| 49 | "Create multibody data collection.\n\n" | ||
| 50 | ":param pinocchio: Pinocchio data\n" | ||
| 51 | ":param actuation: actuation data\n" | ||
| 52 |
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20 | ":param joint: joint data")[bp::with_custodian_and_ward<1, 2>()]) |
| 53 |
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10 | .def(CopyableVisitor<DataCollectorJointActMultibody>()); |
| 54 | 10 | } | |
| 55 | |||
| 56 | } // namespace python | ||
| 57 | } // namespace crocoddyl | ||
| 58 |