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// |
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// Copyright (c) 2018 CNRS |
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// |
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// This file is part of tsid |
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// tsid is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// tsid is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// tsid If not, see |
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// <http://www.gnu.org/licenses/>. |
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// |
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#include "tsid/bindings/python/fwd.hpp" |
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#include <eigenpy/geometry.hpp> |
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#include "tsid/bindings/python/robots/expose-robots.hpp" |
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#include "tsid/bindings/python/constraint/expose-constraints.hpp" |
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#include "tsid/bindings/python/contacts/expose-contact.hpp" |
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#include "tsid/bindings/python/trajectories/expose-trajectories.hpp" |
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#include "tsid/bindings/python/tasks/expose-tasks.hpp" |
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#include "tsid/bindings/python/solvers/expose-solvers.hpp" |
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#include "tsid/bindings/python/formulations/expose-formulations.hpp" |
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#include "tsid/bindings/python/math/utils.hpp" |
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namespace bp = boost::python; |
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using namespace tsid::python; |
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✓✗✓✗
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BOOST_PYTHON_MODULE(tsid_pywrap) { |
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eigenpy::enableEigenPy(); |
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eigenpy::exposeAngleAxis(); |
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eigenpy::exposeQuaternion(); |
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typedef Eigen::Matrix<double, 6, 6> Matrix6d; |
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typedef Eigen::Matrix<double, 6, 1> Vector6d; |
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typedef Eigen::Matrix<double, 6, Eigen::Dynamic> Matrix6x; |
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typedef Eigen::Matrix<double, 3, Eigen::Dynamic> Matrix3x; |
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eigenpy::enableEigenPySpecific<Matrix6d>(); |
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eigenpy::enableEigenPySpecific<Vector6d>(); |
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eigenpy::enableEigenPySpecific<Matrix6x>(); |
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eigenpy::enableEigenPySpecific<Matrix3x>(); |
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eigenpy::enableEigenPySpecific<Eigen::MatrixXd>(); |
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eigenpy::enableEigenPySpecific<Eigen::Vector3d>(); |
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exposeRobots(); |
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exposeConstraints(); |
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exposeContact(); |
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exposeTrajectories(); |
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exposeTasks(); |
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exposeSolvers(); |
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exposeFormulations(); |
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exposeMathUtils(); |
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} |