Directory: | ./ |
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File: | include/tsid/bindings/python/solvers/HQPOutput.hpp |
Date: | 2024-08-26 20:29:39 |
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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 | #ifndef __tsid_python_HQPOutput_hpp__ | ||
19 | #define __tsid_python_HQPOutput_hpp__ | ||
20 | |||
21 | #include "tsid/bindings/python/fwd.hpp" | ||
22 | |||
23 | #include "tsid/solvers/solver-HQP-output.hpp" | ||
24 | |||
25 | namespace tsid { | ||
26 | namespace python { | ||
27 | namespace bp = boost::python; | ||
28 | |||
29 | template <typename T> | ||
30 | struct HQPOutputPythonVisitor | ||
31 | : public boost::python::def_visitor<HQPOutputPythonVisitor<T> > { | ||
32 | template <class PyClass> | ||
33 | |||
34 | 7 | void visit(PyClass& cl) const { | |
35 |
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7 | cl.def(bp::init<>("Default Constructor")) |
36 |
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14 | .def(bp::init<int, int, int>((bp::args("nVars", "nEq", "nInCon")))) |
37 |
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7 | .add_property("x", &HQPOutputPythonVisitor::x) |
38 |
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7 | .add_property("status", &HQPOutputPythonVisitor::status); |
39 | 7 | } | |
40 | 300 | static Eigen::VectorXd x(const T& self) { return self.x; } | |
41 | 100 | static int status(const T& self) { return self.status; } | |
42 | 7 | static void expose(const std::string& class_name) { | |
43 |
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7 | std::string doc = "HQPOutput info."; |
44 |
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7 | bp::class_<T>(class_name.c_str(), doc.c_str(), bp::no_init) |
45 |
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7 | .def(HQPOutputPythonVisitor<T>()); |
46 | 7 | } | |
47 | }; | ||
48 | } // namespace python | ||
49 | } // namespace tsid | ||
50 | |||
51 | #endif // ifndef __tsid_python_HQPOutput_hpp__ | ||
52 |