Directory: | ./ |
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File: | src/matrix/integrator-euler-python-module-py.cc |
Date: | 2024-08-13 12:13:25 |
Exec | Total | Coverage | |
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Lines: | 11 | 21 | 52.4% |
Branches: | 7 | 26 | 26.9% |
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1 | #include <boost/python/suite/indexing/vector_indexing_suite.hpp> | ||
2 | #include <dynamic-graph/python/dynamic-graph-py.hh> | ||
3 | #include <dynamic-graph/python/module.hh> | ||
4 | #include <sot/core/integrator-euler.hh> | ||
5 | |||
6 | namespace dg = dynamicgraph; | ||
7 | namespace dgc = dynamicgraph::command; | ||
8 | namespace dgs = dynamicgraph::sot; | ||
9 | using dg::Matrix; | ||
10 | using dg::Vector; | ||
11 | |||
12 | template <typename S, typename C> | ||
13 | 6 | void exposeIntegratorEuler() { | |
14 | typedef dgs::IntegratorEuler<S, C> IE_t; | ||
15 | |||
16 |
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6 | const std::string cName = dgc::Value::typeName(dgc::ValueHelper<C>::TypeID); |
17 | |||
18 | dg::python::exposeEntity<IE_t>() | ||
19 |
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6 | .add_property( |
20 | "numerators", | ||
21 | ✗ | +[](const IE_t &e) { | |
22 | ✗ | return dg::python::to_py_list(e.numCoeffs().begin(), | |
23 | ✗ | e.numCoeffs().end()); | |
24 | }, | ||
25 | ✗ | +[](IE_t &e, bp::object iterable) { | |
26 | ✗ | e.numCoeffs(dg::python::to_std_vector<C>(iterable)); | |
27 | }) | ||
28 |
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6 | .add_property( |
29 | "denominators", | ||
30 | ✗ | +[](const IE_t &e) { | |
31 | ✗ | return dg::python::to_py_list(e.denomCoeffs().begin(), | |
32 | ✗ | e.denomCoeffs().end()); | |
33 | }, | ||
34 | ✗ | +[](IE_t &e, bp::object iterable) { | |
35 | ✗ | e.denomCoeffs(dg::python::to_std_vector<C>(iterable)); | |
36 | }); | ||
37 | 6 | } | |
38 | |||
39 |
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4 | BOOST_PYTHON_MODULE(wrap) { |
40 |
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2 | bp::import("dynamic_graph"); |
41 | |||
42 | 2 | exposeIntegratorEuler<double, double>(); | |
43 | 2 | exposeIntegratorEuler<Vector, double>(); | |
44 | 2 | exposeIntegratorEuler<Vector, Matrix>(); | |
45 | 2 | } | |
46 |