Directory: | ./ |
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File: | include/tsid/bindings/python/constraint/constraint-bound.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_constriant_bound_hpp__ | ||
19 | #define __tsid_python_constriant_bound_hpp__ | ||
20 | |||
21 | #include "tsid/bindings/python/fwd.hpp" | ||
22 | |||
23 | #include "tsid/math/constraint-bound.hpp" | ||
24 | |||
25 | namespace tsid { | ||
26 | namespace python { | ||
27 | namespace bp = boost::python; | ||
28 | |||
29 | template <typename ConstraintBound> | ||
30 | struct ConstraintPythonVisitor | ||
31 | : public boost::python::def_visitor< | ||
32 | ConstraintPythonVisitor<ConstraintBound> > { | ||
33 | template <class PyClass> | ||
34 | |||
35 | 7 | void visit(PyClass& cl) const { | |
36 |
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7 | cl.def(bp::init<std::string>((bp::arg("name")), |
37 | "Default constructor with name.")) | ||
38 |
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7 | .def(bp::init<std::string, unsigned int>( |
39 |
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14 | (bp::arg("name"), bp::arg("size")), |
40 | "Default constructor with name and size.")) | ||
41 |
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14 | .def(bp::init<std::string, Eigen::VectorXd, Eigen::VectorXd>( |
42 |
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21 | (bp::arg("name"), bp::arg("lb"), bp::arg("ub")), |
43 | "Default constructor with name and constraint.")) | ||
44 | |||
45 | 14 | .add_property("rows", &ConstraintBound::rows) | |
46 |
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7 | .add_property("cols", &ConstraintBound::cols) |
47 |
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14 | .def("resize", &ConstraintBound::resize, (bp::arg("r"), bp::arg("c")), |
48 | "Resize constraint size.") | ||
49 | |||
50 |
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7 | .add_property("isEquality", &ConstraintBound::isEquality) |
51 |
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7 | .add_property("isInequality", &ConstraintBound::isInequality) |
52 |
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7 | .add_property("isBound", &ConstraintBound::isBound) |
53 | |||
54 |
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7 | .add_property("vector", &ConstraintPythonVisitor::vector) |
55 |
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7 | .add_property("lowerBound", &ConstraintPythonVisitor::lowerBound) |
56 |
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7 | .add_property("upperBound", &ConstraintPythonVisitor::upperBound) |
57 | |||
58 |
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14 | .def("setVector", |
59 | (bool(ConstraintBound::*)( | ||
60 | const Eigen::Ref<const Eigen::VectorXd>)) & | ||
61 | ConstraintBound::setVector, | ||
62 | bp::args("vector"), "Set Vector") | ||
63 |
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14 | .def("setLowerBound", |
64 | (bool(ConstraintBound::*)( | ||
65 | const Eigen::Ref<const Eigen::VectorXd>)) & | ||
66 | ConstraintBound::setLowerBound, | ||
67 | bp::args("lb"), "Set LowerBound") | ||
68 |
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7 | .def("setUpperBound", |
69 | (bool(ConstraintBound::*)( | ||
70 | const Eigen::Ref<const Eigen::VectorXd>)) & | ||
71 | ConstraintBound::setUpperBound, | ||
72 | bp::args("ub"), "Set UpperBound"); | ||
73 | 7 | } | |
74 | ✗ | static Eigen::VectorXd vector(const ConstraintBound& self) { | |
75 | ✗ | return self.vector(); | |
76 | } | ||
77 | ✗ | static Eigen::VectorXd lowerBound(const ConstraintBound& self) { | |
78 | ✗ | return self.lowerBound(); | |
79 | } | ||
80 | ✗ | static Eigen::VectorXd upperBound(const ConstraintBound& self) { | |
81 | ✗ | return self.upperBound(); | |
82 | } | ||
83 | |||
84 | 7 | static void expose(const std::string& class_name) { | |
85 |
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7 | std::string doc = "Constraint Bound info."; |
86 |
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7 | bp::class_<ConstraintBound>(class_name.c_str(), doc.c_str(), bp::no_init) |
87 |
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7 | .def(ConstraintPythonVisitor<ConstraintBound>()); |
88 | 7 | } | |
89 | }; | ||
90 | } // namespace python | ||
91 | } // namespace tsid | ||
92 | |||
93 | #endif // ifndef __tsid_python_constriant_bound_hpp__ | ||
94 |