| Directory: | ./ |
|---|---|
| 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% |
| Branches: | 19 | 38 | 50.0% |
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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 |