Directory: | ./ |
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File: | include/pinocchio/bindings/python/multibody/joint/joint-model.hpp |
Date: | 2024-08-27 18:20:05 |
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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 | 20 | static void expose() | |
42 | { | ||
43 | 20 | bp::class_<JointModel>("JointModel", "Generic Joint Model", bp::no_init) | |
44 |
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40 | .def(bp::init<>(bp::arg("self"), "Default constructor")) |
45 |
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40 | .def(bp::init<const JointModel &>(bp::args("self", "other"), "Copy constructor")) |
46 |
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20 | .def(JointModelBasePythonVisitor<JointModel>()) |
47 |
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20 | .def(PrintableVisitor<JointModel>()) |
48 |
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20 | .def( |
49 |
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40 | "extract", ExtractJointModelVariantTypeVisitor<JointModel>::extract, bp::arg("self"), |
50 | "Returns a reference of the internal joint managed by the JointModel", | ||
51 | 20 | bp::with_custodian_and_ward_postcall<0, 1>()); | |
52 | 20 | } | |
53 | }; | ||
54 | |||
55 | } // namespace python | ||
56 | } // namespace pinocchio | ||
57 | |||
58 | #endif // ifndef __pinocchio_python_multibody_joint_joint_model_hpp__ | ||
59 |