GCC Code Coverage Report
Directory: ./ Exec Total Coverage
File: include/tsid/bindings/python/constraint/constraint-bound.hpp Lines: 21 27 77.8 %
Date: 2024-05-10 01:36:27 Branches: 35 70 50.0 %

Line Branch Exec Source
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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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#ifndef __tsid_python_constriant_bound_hpp__
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#define __tsid_python_constriant_bound_hpp__
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#include "tsid/bindings/python/fwd.hpp"
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#include "tsid/math/constraint-bound.hpp"
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namespace tsid {
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namespace python {
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namespace bp = boost::python;
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template <typename ConstraintBound>
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struct ConstraintPythonVisitor
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    : public boost::python::def_visitor<
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          ConstraintPythonVisitor<ConstraintBound> > {
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  template <class PyClass>
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  void visit(PyClass& cl) const {
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    cl.def(bp::init<std::string>((bp::arg("name")),
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                                 "Default constructor with name."))
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        .def(bp::init<std::string, unsigned int>(
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            (bp::arg("name"), bp::arg("size")),
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            "Default constructor with name and size."))
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        .def(bp::init<std::string, Eigen::VectorXd, Eigen::VectorXd>(
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            (bp::arg("name"), bp::arg("lb"), bp::arg("ub")),
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            "Default constructor with name and constraint."))
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        .add_property("rows", &ConstraintBound::rows)
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        .add_property("cols", &ConstraintBound::cols)
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        .def("resize", &ConstraintBound::resize, (bp::arg("r"), bp::arg("c")),
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             "Resize constraint size.")
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        .add_property("isEquality", &ConstraintBound::isEquality)
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        .add_property("isInequality", &ConstraintBound::isInequality)
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        .add_property("isBound", &ConstraintBound::isBound)
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        .add_property("vector", &ConstraintPythonVisitor::vector)
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        .add_property("lowerBound", &ConstraintPythonVisitor::lowerBound)
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        .add_property("upperBound", &ConstraintPythonVisitor::upperBound)
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        .def("setVector",
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             (bool(ConstraintBound::*)(
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                 const Eigen::Ref<const Eigen::VectorXd>)) &
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                 ConstraintBound::setVector,
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             bp::args("vector"), "Set Vector")
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        .def("setLowerBound",
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             (bool(ConstraintBound::*)(
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                 const Eigen::Ref<const Eigen::VectorXd>)) &
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                 ConstraintBound::setLowerBound,
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             bp::args("lb"), "Set LowerBound")
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        .def("setUpperBound",
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             (bool(ConstraintBound::*)(
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                 const Eigen::Ref<const Eigen::VectorXd>)) &
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                 ConstraintBound::setUpperBound,
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             bp::args("ub"), "Set UpperBound");
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  }
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  static Eigen::VectorXd vector(const ConstraintBound& self) {
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    return self.vector();
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  }
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  static Eigen::VectorXd lowerBound(const ConstraintBound& self) {
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    return self.lowerBound();
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  }
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  static Eigen::VectorXd upperBound(const ConstraintBound& self) {
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    return self.upperBound();
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  }
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  static void expose(const std::string& class_name) {
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    std::string doc = "Constraint Bound info.";
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    bp::class_<ConstraintBound>(class_name.c_str(), doc.c_str(), bp::no_init)
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        .def(ConstraintPythonVisitor<ConstraintBound>());
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  }
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};
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}  // namespace python
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}  // namespace tsid
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#endif  // ifndef __tsid_python_constriant_bound_hpp__