| Directory: | ./ |
|---|---|
| File: | bindings/python/solvers/HQPData.cpp |
| Date: | 2024-08-26 20:29:39 |
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| Lines: | 19 | 19 | 100.0% |
| Branches: | 13 | 26 | 50.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2018 CNRS | ||
| 3 | // | ||
| 4 | // This file is part of tsid | ||
| 5 | // tsid is free software: you can redistribute it | ||
| 6 | // and/or modify it under the terms of the GNU Lesser General Public | ||
| 7 | // License as published by the Free Software Foundation, either version | ||
| 8 | // 3 of the License, or (at your option) any later version. | ||
| 9 | // tsid is distributed in the hope that it will be | ||
| 10 | // useful, but WITHOUT ANY WARRANTY; without even the implied warranty | ||
| 11 | // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU | ||
| 12 | // General Lesser Public License for more details. You should have | ||
| 13 | // received a copy of the GNU Lesser General Public License along with | ||
| 14 | // tsid If not, see | ||
| 15 | // <http://www.gnu.org/licenses/>. | ||
| 16 | // | ||
| 17 | |||
| 18 | #include "tsid/bindings/python/solvers/expose-solvers.hpp" | ||
| 19 | #include "tsid/bindings/python/solvers/HQPData.hpp" | ||
| 20 | |||
| 21 | namespace tsid { | ||
| 22 | namespace python { | ||
| 23 | 7 | void exposeConstraintLevel() { | |
| 24 |
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7 | ConstPythonVisitor<ConstraintLevels>::expose("ConstraintLevel"); |
| 25 | 7 | } | |
| 26 | 7 | void exposeHQPData() { | |
| 27 | typedef solvers::QPDataBaseTpl<double> QPDataBase; | ||
| 28 | typedef solvers::QPDataTpl<double> QPData; | ||
| 29 | typedef solvers::QPDataQuadProgTpl<double> QPDataQuadProg; | ||
| 30 | |||
| 31 |
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7 | HQPPythonVisitor<HQPDatas>::expose("HQPData"); |
| 32 | |||
| 33 | // expose QP data structures | ||
| 34 | 7 | bp::class_<QPDataBase>("QPDataBase") | |
| 35 |
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7 | .def_readonly("H", &QPDataBase::H, "Cost matrix") |
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7 | .def_readonly("g", &QPDataBase::g) |
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7 | .def_readonly("CE", &QPDataBase::CE, "Equality constraint matrix") |
| 38 |
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7 | .def_readonly("ce0", &QPDataBase::ce0); |
| 39 | |||
| 40 | 7 | bp::class_<QPData, bp::bases<QPDataBase>>("QPData") | |
| 41 |
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7 | .def_readonly("CI", &QPData::CI, "Inequality constraint matrix") |
| 42 |
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7 | .def_readonly("lb", &QPData::ci_lb, "Inequality constraint lower bound") |
| 43 |
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7 | .def_readonly("ub", &QPData::ci_ub, "Inequality constraint upper bound"); |
| 44 | |||
| 45 | 7 | bp::class_<QPDataQuadProg, bp::bases<QPDataBase>>("QPDataQuadProg") | |
| 46 |
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7 | .def_readonly("CI", &QPDataQuadProg::CI, |
| 47 | "Inequality constraint matrix (unilateral)") | ||
| 48 | 7 | .def_readonly( | |
| 49 |
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7 | "ci0", &QPDataQuadProg::ci0, |
| 50 | "Inequality constraint vector (stacked lower and upper bounds)"); | ||
| 51 | 7 | } | |
| 52 | } // namespace python | ||
| 53 | } // namespace tsid | ||
| 54 |