| Directory: | ./ |
|---|---|
| File: | bindings/python/multibody/joint/expose-joints.cpp |
| Date: | 2024-08-27 18:20:05 |
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| Lines: | 10 | 10 | 100.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2015-2021 CNRS INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #include "pinocchio/bindings/python/fwd.hpp" | ||
| 6 | #include "pinocchio/bindings/python/multibody/joint/joint-derived.hpp" | ||
| 7 | #include "pinocchio/bindings/python/multibody/joint/joints-variant.hpp" | ||
| 8 | #include "pinocchio/bindings/python/multibody/joint/joint-model.hpp" | ||
| 9 | #include "pinocchio/bindings/python/multibody/joint/joint-data.hpp" | ||
| 10 | |||
| 11 | #include "pinocchio/bindings/python/utils/std-aligned-vector.hpp" | ||
| 12 | |||
| 13 | namespace pinocchio | ||
| 14 | { | ||
| 15 | namespace python | ||
| 16 | { | ||
| 17 | |||
| 18 | 20 | void exposeJoints() | |
| 19 | { | ||
| 20 | typedef context::JointCollectionDefault::JointModelVariant JointModelVariant; | ||
| 21 | 20 | boost::mpl::for_each<JointModelVariant::types>(JointModelExposer()); | |
| 22 | 20 | bp::to_python_converter<JointModelVariant, JointVariantVisitor<JointModelVariant>>(); | |
| 23 | 20 | JointModelPythonVisitor<context::JointModel>::expose(); | |
| 24 |
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20 | StdAlignedVectorPythonVisitor<context::JointModel>::expose("StdVec_JointModelVector"); |
| 25 | |||
| 26 | typedef context::JointCollectionDefault::JointDataVariant JointDataVariant; | ||
| 27 | 20 | boost::mpl::for_each<JointDataVariant::types>(JointDataExposer()); | |
| 28 | 20 | bp::to_python_converter<JointDataVariant, JointVariantVisitor<JointDataVariant>>(); | |
| 29 | 20 | JointDataPythonVisitor<context::JointData>::expose(); | |
| 30 |
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20 | StdAlignedVectorPythonVisitor<context::JointData>::expose("StdVec_JointDataVector"); |
| 31 | 20 | } | |
| 32 | |||
| 33 | } // namespace python | ||
| 34 | } // namespace pinocchio | ||
| 35 |