| Directory: | ./ |
|---|---|
| File: | include/multicontact-api/bindings/python/geometry/ellipsoid.hpp |
| Date: | 2025-03-10 16:17:01 |
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| Lines: | 15 | 22 | 68.2% |
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| 1 | // Copyright (c) 2015-2018, CNRS | ||
| 2 | // Authors: Justin Carpentier <jcarpent@laas.fr> | ||
| 3 | |||
| 4 | #ifndef __multicontact_api_python_geometry_ellipsoid_hpp__ | ||
| 5 | #define __multicontact_api_python_geometry_ellipsoid_hpp__ | ||
| 6 | |||
| 7 | #include <pinocchio/fwd.hpp> | ||
| 8 | |||
| 9 | #include "multicontact-api/bindings/python/fwd.hpp" | ||
| 10 | #include "multicontact-api/geometry/ellipsoid.hpp" | ||
| 11 | |||
| 12 | namespace multicontact_api { | ||
| 13 | namespace python { | ||
| 14 | |||
| 15 | namespace bp = boost::python; | ||
| 16 | |||
| 17 | template <typename Ellipsoid> | ||
| 18 | struct EllipsoidPythonVisitor | ||
| 19 | : public boost::python::def_visitor<EllipsoidPythonVisitor<Ellipsoid> > { | ||
| 20 | typedef typename Ellipsoid::Matrix Matrix; | ||
| 21 | typedef typename Ellipsoid::Vector Vector; | ||
| 22 | |||
| 23 | template <class PyClass> | ||
| 24 | 3 | void visit(PyClass& cl) const { | |
| 25 |
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6 | cl.def(bp::init<Matrix, Vector>((bp::arg("A"), bp::arg("center")))) |
| 26 |
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3 | .def("__str__", &toString) |
| 27 |
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6 | .def("lhsValue", &Ellipsoid::lhsValue, bp::arg("point"), |
| 28 | "Returns the value of norm(A*(x-c)).") | ||
| 29 |
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3 | .add_property("center", &get_center, &set_center, |
| 30 | "Accessor to the center property.") | ||
| 31 |
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3 | .add_property("A", &get_A, &set_A, "Accessor to the A property."); |
| 32 | 3 | } | |
| 33 | |||
| 34 | ✗ | static void set_center(Ellipsoid& e, const Vector& center) { | |
| 35 | ✗ | e.center() = center; | |
| 36 | } | ||
| 37 | 1 | static Vector get_center(const Ellipsoid& e) { return e.center(); } | |
| 38 | |||
| 39 | ✗ | static void set_A(Ellipsoid& e, const Matrix& A) { e.A() = A; } | |
| 40 | 1 | static Matrix get_A(const Ellipsoid& e) { return e.A(); } | |
| 41 | |||
| 42 | 3 | static void expose(const std::string& class_name) { | |
| 43 |
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3 | std::string doc = "Ellipsoid of dimension " + Ellipsoid::dim; |
| 44 |
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3 | doc += " defined by its matrix A and its center."; |
| 45 |
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3 | bp::class_<Ellipsoid>(class_name.c_str(), doc.c_str(), bp::no_init) |
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3 | .def(EllipsoidPythonVisitor<Ellipsoid>()); |
| 47 | 3 | } | |
| 48 | |||
| 49 | protected: | ||
| 50 | ✗ | static std::string toString(const Ellipsoid& e) { | |
| 51 | ✗ | std::ostringstream s; | |
| 52 | ✗ | s << e; | |
| 53 | ✗ | return s.str(); | |
| 54 | } | ||
| 55 | }; | ||
| 56 | |||
| 57 | } // namespace python | ||
| 58 | } // namespace multicontact_api | ||
| 59 | |||
| 60 | #endif // ifnef __multicontact_api_python_geometry_ellipsoid_hpp__ | ||
| 61 |