| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2020-2025, University of Edinburgh, University of Oxford, | ||
| 5 | // Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | // Auto-generated file for float | ||
| 11 | #include "crocoddyl/multibody/wrench-cone.hpp" | ||
| 12 | |||
| 13 | #include "python/crocoddyl/multibody/multibody.hpp" | ||
| 14 | #include "python/crocoddyl/utils/copyable.hpp" | ||
| 15 | #include "python/crocoddyl/utils/deprecate.hpp" | ||
| 16 | #include "python/crocoddyl/utils/printable.hpp" | ||
| 17 | |||
| 18 | namespace crocoddyl { | ||
| 19 | namespace python { | ||
| 20 | |||
| 21 | template <typename Model> | ||
| 22 | struct WrenchConeVisitor : public bp::def_visitor<WrenchConeVisitor<Model>> { | ||
| 23 | typedef typename Model::Scalar Scalar; | ||
| 24 | typedef typename Model::Matrix3s Matrix3s; | ||
| 25 | typedef typename Model::Vector2s Vector2s; | ||
| 26 | template <class PyClass> | ||
| 27 | ✗ | void visit(PyClass& cl) const { | |
| 28 | ✗ | cl.def(bp::init<>(bp::args("self"), | |
| 29 | "Default initialization of the wrench cone.")) | ||
| 30 | ✗ | .def("update", static_cast<void (Model::*)()>(&Model::update), | |
| 31 | bp::args("self"), | ||
| 32 | "Update the linear inequality (matrix and bounds).\n\n" | ||
| 33 | "Run this function if you have changed one of the parameters.") | ||
| 34 | ✗ | .def("update", | |
| 35 | static_cast<void (Model::*)(const Matrix3s&, const Scalar, | ||
| 36 | const Vector2s&, const Scalar, | ||
| 37 | const Scalar)>(&Model::update), | ||
| 38 | ✗ | deprecated<>("Deprecated. Use update()."), | |
| 39 | bp::args("self", "R", "mu", "box", "min_nforce", "max_nforce"), | ||
| 40 | "Update the linear inequality (matrix and bounds).\n\n" | ||
| 41 | ":param R: rotation matrix that defines the cone orientation\n" | ||
| 42 | ":param mu: friction coefficient\n" | ||
| 43 | ":param box: dimension of the foot surface dim = (length, width)\n" | ||
| 44 | ":param min_nforce: minimum normal force (default 0.)\n" | ||
| 45 | ":param max_nforce: maximum normal force (default " | ||
| 46 | "sys.float_info.max)") | ||
| 47 | ✗ | .add_property( | |
| 48 | "A", | ||
| 49 | ✗ | bp::make_function(&Model::get_A, bp::return_internal_reference<>()), | |
| 50 | "inequality matrix") | ||
| 51 | ✗ | .add_property("ub", | |
| 52 | bp::make_function(&Model::get_ub, | ||
| 53 | ✗ | bp::return_internal_reference<>()), | |
| 54 | "inequality upper bound") | ||
| 55 | ✗ | .add_property("lb", | |
| 56 | bp::make_function(&Model::get_lb, | ||
| 57 | ✗ | bp::return_internal_reference<>()), | |
| 58 | "inequality lower bound") | ||
| 59 | ✗ | .add_property( | |
| 60 | "nf", | ||
| 61 | bp::make_function(&Model::get_nf, | ||
| 62 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 63 | "number of facets") | ||
| 64 | ✗ | .add_property( | |
| 65 | "R", | ||
| 66 | ✗ | bp::make_function(&Model::get_R, bp::return_internal_reference<>()), | |
| 67 | bp::make_function(&Model::set_R), "rotation matrix") | ||
| 68 | ✗ | .add_property("box", | |
| 69 | bp::make_function(&Model::get_box, | ||
| 70 | ✗ | bp::return_internal_reference<>()), | |
| 71 | bp::make_function(&Model::set_box), | ||
| 72 | "box size used to define the sole") | ||
| 73 | ✗ | .add_property("mu", bp::make_function(&Model::get_mu), | |
| 74 | bp::make_function(&Model::set_mu), "friction coefficient") | ||
| 75 | ✗ | .add_property("inner_appr", bp::make_function(&Model::get_inner_appr), | |
| 76 | bp::make_function(&Model::set_inner_appr), | ||
| 77 | "type of friction cone approximation") | ||
| 78 | ✗ | .add_property( | |
| 79 | "min_nforce", | ||
| 80 | bp::make_function(&Model::get_min_nforce, | ||
| 81 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 82 | bp::make_function(&Model::set_min_nforce), "minimum normal force") | ||
| 83 | ✗ | .add_property( | |
| 84 | "max_nforce", | ||
| 85 | bp::make_function(&Model::get_max_nforce, | ||
| 86 | ✗ | bp::return_value_policy<bp::return_by_value>()), | |
| 87 | bp::make_function(&Model::set_max_nforce), "maximum normal force"); | ||
| 88 | ✗ | } | |
| 89 | }; | ||
| 90 | |||
| 91 | #define CROCODDYL_WRENCH_CONE_PYTHON_BINDINGS(Scalar) \ | ||
| 92 | typedef WrenchConeTpl<Scalar> Model; \ | ||
| 93 | typedef typename Model::Matrix3s Matrix3s; \ | ||
| 94 | typedef typename Model::Vector2s Vector2s; \ | ||
| 95 | bp::register_ptr_to_python<std::shared_ptr<Model>>(); \ | ||
| 96 | bp::class_<Model>( \ | ||
| 97 | "WrenchCone", "Model of the wrench cone as lb <= Af <= ub", \ | ||
| 98 | bp::init<Matrix3s, Scalar, Vector2s, \ | ||
| 99 | bp::optional<std::size_t, bool, Scalar, Scalar>>( \ | ||
| 100 | bp::args("self", "R", "mu", "box", "nf", "inner_appr", "min_nforce", \ | ||
| 101 | "max_nforce"), \ | ||
| 102 | "Initialize the linearize wrench cone.\n\n" \ | ||
| 103 | ":param R: rotation matrix that defines the cone orientation\n" \ | ||
| 104 | ":param mu: friction coefficient\n" \ | ||
| 105 | ":param box: dimension of the foot surface dim = (length, width)\n" \ | ||
| 106 | ":param nf: number of facets (default 4)\n" \ | ||
| 107 | ":param inner_appr: inner or outer approximation (default True)\n" \ | ||
| 108 | ":param min_nforce: minimum normal force (default 0.)\n" \ | ||
| 109 | ":param max_nforce: maximum normal force (default " \ | ||
| 110 | "sys.float_info.max)")) \ | ||
| 111 | .def(WrenchConeVisitor<Model>()) \ | ||
| 112 | .def(CastVisitor<Model>()) \ | ||
| 113 | .def(PrintableVisitor<Model>()) \ | ||
| 114 | .def(CopyableVisitor<Model>()); | ||
| 115 | |||
| 116 | ✗ | void exposeWrenchCone() { | |
| 117 | #pragma GCC diagnostic push // TODO: Remove once the deprecated update call has | ||
| 118 | // been removed in a future release | ||
| 119 | #pragma GCC diagnostic ignored "-Wdeprecated-declarations" | ||
| 120 | |||
| 121 | ✗ | CROCODDYL_WRENCH_CONE_PYTHON_BINDINGS(float) | |
| 122 | |||
| 123 | #pragma GCC diagnostic pop | ||
| 124 | ✗ | } | |
| 125 | |||
| 126 | } // namespace python | ||
| 127 | } // namespace crocoddyl | ||
| 128 |