| Line |
Branch |
Exec |
Source |
| 1 |
|
|
/* |
| 2 |
|
|
* Copyright 2017, A. Del Prete, T. Flayols, O. Stasse, LAAS-CNRS |
| 3 |
|
|
* |
| 4 |
|
|
* This file is part of sot-core. |
| 5 |
|
|
* See license file. |
| 6 |
|
|
*/ |
| 7 |
|
|
|
| 8 |
|
|
#include <pinocchio/fwd.hpp> |
| 9 |
|
|
// keep pinocchio before boost |
| 10 |
|
|
|
| 11 |
|
|
#include <boost/property_tree/ptree.hpp> |
| 12 |
|
|
#include <boost/python.hpp> |
| 13 |
|
|
#include <boost/python/suite/indexing/map_indexing_suite.hpp> |
| 14 |
|
|
#include <sot/core/robot-utils.hh> |
| 15 |
|
|
|
| 16 |
|
|
using namespace boost::python; |
| 17 |
|
|
using namespace dynamicgraph::sot; |
| 18 |
|
|
|
| 19 |
|
✗ |
BOOST_PYTHON_MODULE(robot_utils_sot_py) { |
| 20 |
|
✗ |
class_<JointLimits>("JointLimits", init<double, double>()) |
| 21 |
|
✗ |
.def_readwrite("upper", &JointLimits::upper) |
| 22 |
|
✗ |
.def_readwrite("lower", &JointLimits::lower); |
| 23 |
|
|
|
| 24 |
|
✗ |
class_<ForceLimits>("ForceLimits", |
| 25 |
|
✗ |
init<const Eigen::VectorXd &, const Eigen::VectorXd &>()) |
| 26 |
|
✗ |
.def("display", &ForceLimits::display) |
| 27 |
|
✗ |
.def_readwrite("upper", &ForceLimits::upper) |
| 28 |
|
✗ |
.def_readwrite("lower", &ForceLimits::lower); |
| 29 |
|
|
|
| 30 |
|
✗ |
class_<ForceUtil>("ForceUtil") |
| 31 |
|
✗ |
.def("set_name_to_force_id", &ForceUtil::set_name_to_force_id) |
| 32 |
|
✗ |
.def("set_force_id_to_limits", &ForceUtil::set_force_id_to_limits) |
| 33 |
|
✗ |
.def("create_force_id_to_name_map", |
| 34 |
|
|
&ForceUtil::create_force_id_to_name_map) |
| 35 |
|
✗ |
.def("get_id_from_name", &ForceUtil::get_id_from_name) |
| 36 |
|
✗ |
.def("get_name_from_id", &ForceUtil::cp_get_name_from_id) |
| 37 |
|
✗ |
.def("get_limits_from_id", &ForceUtil::cp_get_limits_from_id) |
| 38 |
|
✗ |
.def("get_force_id_left_hand", &ForceUtil::get_force_id_left_hand) |
| 39 |
|
✗ |
.def("set_force_id_left_hand", &ForceUtil::set_force_id_left_hand) |
| 40 |
|
✗ |
.def("get_force_id_right_hand", &ForceUtil::get_force_id_right_hand) |
| 41 |
|
✗ |
.def("set_force_id_right_hand", &ForceUtil::set_force_id_right_hand) |
| 42 |
|
✗ |
.def("get_force_id_left_foot", &ForceUtil::get_force_id_left_foot) |
| 43 |
|
✗ |
.def("set_force_id_left_foot", &ForceUtil::set_force_id_left_foot) |
| 44 |
|
✗ |
.def("get_force_id_right_foot", &ForceUtil::get_force_id_right_foot) |
| 45 |
|
✗ |
.def("set_force_id_right_foot", &ForceUtil::set_force_id_right_foot) |
| 46 |
|
✗ |
.def("display", &ForceUtil::display); |
| 47 |
|
|
|
| 48 |
|
✗ |
class_<RobotUtil>("RobotUtil") |
| 49 |
|
✗ |
.def_readwrite("m_force_util", &RobotUtil::m_force_util) |
| 50 |
|
✗ |
.def_readwrite("m_foot_util", &RobotUtil::m_foot_util) |
| 51 |
|
✗ |
.def_readwrite("m_urdf_to_sot", &RobotUtil::m_urdf_to_sot) |
| 52 |
|
✗ |
.def_readonly("m_nbJoints", &RobotUtil::m_nbJoints) |
| 53 |
|
✗ |
.def_readwrite("m_name_to_id", &RobotUtil::m_name_to_id) |
| 54 |
|
✗ |
.def_readwrite("m_id_to_name", &RobotUtil::m_id_to_name) |
| 55 |
|
✗ |
.def("set_joint_limits_for_id", &RobotUtil::set_joint_limits_for_id) |
| 56 |
|
✗ |
.def("get_joint_limits_from_id", &RobotUtil::cp_get_joint_limits_from_id) |
| 57 |
|
|
//.def("set_joint_limits_for_id",&RobotUtil::set_joint_limits_for_id) |
| 58 |
|
|
//.def("set_name_to_id", &RobotUtil::set_name_to_id) |
| 59 |
|
|
//.def("create_id_to_name_map",&RobotUtil::create_id_to_name_map) |
| 60 |
|
|
//.def("get_id_from_name",&RobotUtil::get_id_from_name) |
| 61 |
|
|
; |
| 62 |
|
|
|
| 63 |
|
✗ |
class_<std::map<Index, ForceLimits> >("IndexForceLimits") |
| 64 |
|
✗ |
.def(map_indexing_suite<std::map<Index, ForceLimits> >()); |
| 65 |
|
|
|
| 66 |
|
✗ |
class_<std::map<std::string, Index> >("stringIndex") |
| 67 |
|
✗ |
.def(map_indexing_suite<std::map<std::string, Index> >()); |
| 68 |
|
|
|
| 69 |
|
✗ |
class_<std::map<Index, std::string> >("Indexstring") |
| 70 |
|
✗ |
.def(map_indexing_suite<std::map<Index, std::string> >()); |
| 71 |
|
|
} |
| 72 |
|
|
|