| Directory: | ./ |
|---|---|
| File: | include/pinocchio/bindings/python/multibody/joint/joint-model.hpp |
| Date: | 2025-02-12 21:03:38 |
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| Lines: | 10 | 15 | 66.7% |
| Branches: | 10 | 24 | 41.7% |
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| 1 | // | ||
| 2 | // Copyright (c) 2015-2022 CNRS INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef __pinocchio_python_multibody_joint_joint_model_hpp__ | ||
| 6 | #define __pinocchio_python_multibody_joint_joint_model_hpp__ | ||
| 7 | |||
| 8 | #include "pinocchio/multibody/joint/joint-generic.hpp" | ||
| 9 | #include "pinocchio/bindings/python/multibody/joint/joint-derived.hpp" | ||
| 10 | #include "pinocchio/bindings/python/utils/printable.hpp" | ||
| 11 | |||
| 12 | namespace pinocchio | ||
| 13 | { | ||
| 14 | namespace python | ||
| 15 | { | ||
| 16 | namespace bp = boost::python; | ||
| 17 | |||
| 18 | template<typename JointModel> | ||
| 19 | struct ExtractJointModelVariantTypeVisitor | ||
| 20 | { | ||
| 21 | typedef typename JointModel::JointCollection JointCollection; | ||
| 22 | typedef bp::object result_type; | ||
| 23 | |||
| 24 | template<typename JointModelDerived> | ||
| 25 | ✗ | result_type operator()(const JointModelBase<JointModelDerived> & jmodel) const | |
| 26 | { | ||
| 27 | ✗ | bp::object obj(boost::ref(jmodel.derived())); | |
| 28 | ✗ | return obj; | |
| 29 | } | ||
| 30 | |||
| 31 | ✗ | static result_type extract(const JointModel & jmodel) | |
| 32 | { | ||
| 33 | ✗ | return boost::apply_visitor(ExtractJointModelVariantTypeVisitor(), jmodel); | |
| 34 | } | ||
| 35 | }; | ||
| 36 | |||
| 37 | template<typename JointModel> | ||
| 38 | struct JointModelPythonVisitor | ||
| 39 | { | ||
| 40 | |||
| 41 | 69 | static void expose() | |
| 42 | { | ||
| 43 | 69 | bp::class_<JointModel>("JointModel", "Generic Joint Model", bp::no_init) | |
| 44 |
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138 | .def(bp::init<>(bp::arg("self"), "Default constructor")) |
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138 | .def(bp::init<const JointModel &>(bp::args("self", "other"), "Copy constructor")) |
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69 | .def(JointModelBasePythonVisitor<JointModel>()) |
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69 | .def(PrintableVisitor<JointModel>()) |
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69 | .def( |
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138 | "extract", ExtractJointModelVariantTypeVisitor<JointModel>::extract, bp::arg("self"), |
| 50 | "Returns a reference of the internal joint managed by the JointModel", | ||
| 51 | 69 | bp::with_custodian_and_ward_postcall<0, 1>()); | |
| 52 | 69 | } | |
| 53 | }; | ||
| 54 | |||
| 55 | } // namespace python | ||
| 56 | } // namespace pinocchio | ||
| 57 | |||
| 58 | #endif // ifndef __pinocchio_python_multibody_joint_joint_model_hpp__ | ||
| 59 |