Directory: | ./ |
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File: | include/pinocchio/bindings/python/algorithm/contact-solver-base.hpp |
Date: | 2024-08-27 18:20:05 |
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Lines: | 18 | 18 | 100.0% |
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1 | // | ||
2 | // Copyright (c) 2022-2024 INRIA | ||
3 | // | ||
4 | |||
5 | #include "pinocchio/bindings/python/fwd.hpp" | ||
6 | #include "pinocchio/algorithm/contact-solver-base.hpp" | ||
7 | |||
8 | #include <eigenpy/eigen-from-python.hpp> | ||
9 | |||
10 | namespace pinocchio | ||
11 | { | ||
12 | namespace python | ||
13 | { | ||
14 | |||
15 | namespace bp = boost::python; | ||
16 | |||
17 | template<typename Solver> | ||
18 | struct ContactSolverBasePythonVisitor | ||
19 | : public boost::python::def_visitor<ContactSolverBasePythonVisitor<Solver>> | ||
20 | { | ||
21 | typedef typename Solver::Scalar Scalar; | ||
22 | |||
23 | public: | ||
24 | template<class PyClass> | ||
25 | 40 | void visit(PyClass & cl) const | |
26 | { | ||
27 | #ifdef PINOCCHIO_PYTHON_PLAIN_SCALAR_TYPE | ||
28 | 120 | cl.def( | |
29 | 40 | "getIterationCount", &Solver::getIterationCount, bp::arg("self"), | |
30 | "Get the number of iterations achieved by the PGS algorithm.") | ||
31 |
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80 | .def( |
32 | "setMaxIterations", &Solver::setMaxIterations, bp::args("self", "max_it"), | ||
33 | "Set the maximum number of iterations.") | ||
34 |
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40 | .def( |
35 |
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80 | "getMaxIterations", &Solver::getMaxIterations, bp::arg("self"), |
36 | "Get the maximum number of iterations allowed.") | ||
37 | |||
38 |
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80 | .def( |
39 | "setAbsolutePrecision", &Solver::setAbsolutePrecision, | ||
40 | bp::args("self", "absolute_precision"), "Set the absolute precision for the problem.") | ||
41 |
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40 | .def( |
42 |
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80 | "getAbsolutePrecision", &Solver::getAbsolutePrecision, bp::arg("self"), |
43 | "Get the absolute precision requested.") | ||
44 | |||
45 |
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80 | .def( |
46 | "setRelativePrecision", &Solver::setRelativePrecision, | ||
47 | bp::args("self", "relative_precision"), "Set the relative precision for the problem.") | ||
48 |
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40 | .def( |
49 |
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80 | "getRelativePrecision", &Solver::getRelativePrecision, bp::arg("self"), |
50 | "Get the relative precision requested.") | ||
51 | |||
52 |
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40 | .def( |
53 | "getAbsoluteConvergenceResidual", &Solver::getAbsoluteConvergenceResidual, | ||
54 |
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80 | bp::arg("self"), |
55 | "Returns the value of the absolute residual value corresponding to the contact " | ||
56 | "complementary conditions.") | ||
57 |
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40 | .def( |
58 | "getRelativeConvergenceResidual", &Solver::getRelativeConvergenceResidual, | ||
59 |
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80 | bp::arg("self"), |
60 | "Returns the value of the relative residual value corresponding to the difference " | ||
61 | "between two successive iterates (infinity norms).") | ||
62 | |||
63 | #ifdef PINOCCHIO_WITH_HPP_FCL | ||
64 |
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40 | .def("getCPUTimes", &Solver::getCPUTimes, bp::arg("self")) |
65 | #endif // PINOCCHIO_WITH_HPP_FCL | ||
66 | ; | ||
67 | #endif | ||
68 | 40 | } | |
69 | }; // struct ContactSolverBasePythonVisitor | ||
70 | |||
71 | } // namespace python | ||
72 | } // namespace pinocchio | ||
73 |