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/* |
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* Copyright 2017, A. Del Prete, T. Flayols, O. Stasse, LAAS-CNRS |
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* |
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* This file is part of sot-core. |
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* See license file. |
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*/ |
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#include <pinocchio/fwd.hpp> |
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// keep pinocchio before boost |
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#include <boost/property_tree/ptree.hpp> |
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#include <boost/python.hpp> |
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#include <boost/python/suite/indexing/map_indexing_suite.hpp> |
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#include <sot/core/robot-utils.hh> |
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using namespace boost::python; |
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using namespace dynamicgraph::sot; |
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BOOST_PYTHON_MODULE(robot_utils_sot_py) { |
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class_<JointLimits>("JointLimits", init<double, double>()) |
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.def_readwrite("upper", &JointLimits::upper) |
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.def_readwrite("lower", &JointLimits::lower); |
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class_<ForceLimits>("ForceLimits", |
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init<const Eigen::VectorXd &, const Eigen::VectorXd &>()) |
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.def("display", &ForceLimits::display) |
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.def_readwrite("upper", &ForceLimits::upper) |
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.def_readwrite("lower", &ForceLimits::lower); |
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class_<ForceUtil>("ForceUtil") |
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.def("set_name_to_force_id", &ForceUtil::set_name_to_force_id) |
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.def("set_force_id_to_limits", &ForceUtil::set_force_id_to_limits) |
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.def("create_force_id_to_name_map", |
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&ForceUtil::create_force_id_to_name_map) |
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.def("get_id_from_name", &ForceUtil::get_id_from_name) |
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.def("get_name_from_id", &ForceUtil::cp_get_name_from_id) |
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.def("get_limits_from_id", &ForceUtil::cp_get_limits_from_id) |
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.def("get_force_id_left_hand", &ForceUtil::get_force_id_left_hand) |
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.def("set_force_id_left_hand", &ForceUtil::set_force_id_left_hand) |
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.def("get_force_id_right_hand", &ForceUtil::get_force_id_right_hand) |
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.def("set_force_id_right_hand", &ForceUtil::set_force_id_right_hand) |
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.def("get_force_id_left_foot", &ForceUtil::get_force_id_left_foot) |
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.def("set_force_id_left_foot", &ForceUtil::set_force_id_left_foot) |
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.def("get_force_id_right_foot", &ForceUtil::get_force_id_right_foot) |
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.def("set_force_id_right_foot", &ForceUtil::set_force_id_right_foot) |
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.def("display", &ForceUtil::display); |
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class_<RobotUtil>("RobotUtil") |
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.def_readwrite("m_force_util", &RobotUtil::m_force_util) |
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.def_readwrite("m_foot_util", &RobotUtil::m_foot_util) |
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.def_readwrite("m_urdf_to_sot", &RobotUtil::m_urdf_to_sot) |
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.def_readonly("m_nbJoints", &RobotUtil::m_nbJoints) |
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.def_readwrite("m_name_to_id", &RobotUtil::m_name_to_id) |
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.def_readwrite("m_id_to_name", &RobotUtil::m_id_to_name) |
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.def("set_joint_limits_for_id", &RobotUtil::set_joint_limits_for_id) |
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.def("get_joint_limits_from_id", &RobotUtil::cp_get_joint_limits_from_id) |
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//.def("set_joint_limits_for_id",&RobotUtil::set_joint_limits_for_id) |
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//.def("set_name_to_id", &RobotUtil::set_name_to_id) |
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//.def("create_id_to_name_map",&RobotUtil::create_id_to_name_map) |
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//.def("get_id_from_name",&RobotUtil::get_id_from_name) |
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; |
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class_<std::map<Index, ForceLimits> >("IndexForceLimits") |
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.def(map_indexing_suite<std::map<Index, ForceLimits> >()); |
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class_<std::map<std::string, Index> >("stringIndex") |
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.def(map_indexing_suite<std::map<std::string, Index> >()); |
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class_<std::map<Index, std::string> >("Indexstring") |
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.def(map_indexing_suite<std::map<Index, std::string> >()); |
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} |