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#include <sot/core/switch.hh> |
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#include "dynamic-graph/python/module.hh" |
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namespace dg = dynamicgraph; |
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typedef bp::return_value_policy<bp::reference_existing_object> |
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reference_existing_object; |
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template <typename T, typename Time> |
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void exposeSwitch() { |
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typedef dg::sot::Switch<T, Time> E_t; |
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typedef typename E_t::Base B_t; |
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dg::python::exposeEntity<E_t, bp::bases<dg::Entity>, |
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dg::python::AddCommands>() |
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.def_readonly("sout", &E_t::SOUT) |
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.def("sin", &B_t::getSignalIn, reference_existing_object()) |
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.add_property("n_sin", &B_t::getSignalNumber, &B_t::setSignalNumber, |
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"the number of input signal.") |
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.def_readonly("selection", &E_t::selectionSIN) |
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.def_readonly("boolSelection", &E_t::boolSelectionSIN) |
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.def("setSignalNumber", &B_t::setSignalNumber, |
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"set the number of input signal.", bp::arg("size")) |
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.def("getSignalNumber", &B_t::getSignalNumber, |
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"get the number of input signal.", bp::arg("size")); |
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} |
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BOOST_PYTHON_MODULE(wrap) { |
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exposeSwitch<bool, int>(); |
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exposeSwitch<dg::Vector, int>(); |
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exposeSwitch<dg::sot::MatrixHomogeneous, int>(); |
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} |