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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_equality_hpp__ |
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#define __tsid_python_constriant_equality_hpp__ |
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#include "tsid/bindings/python/fwd.hpp" |
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#include "tsid/math/constraint-equality.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 ConstraintEquality> |
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struct ConstraintEqPythonVisitor |
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: public boost::python::def_visitor< |
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ConstraintEqPythonVisitor<ConstraintEquality> > { |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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✓✗ | 7 |
cl.def(bp::init<std::string>((bp::arg("name")), |
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"Default constructor with name.")) |
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✓✗✓✗ |
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.def(bp::init<std::string, unsigned int, unsigned int>( |
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(bp::arg("name"), bp::arg("row"), bp::arg("col")), |
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"Default constructor with name and size.")) |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
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.def(bp::init<std::string, Eigen::MatrixXd, Eigen::VectorXd>( |
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(bp::arg("name"), bp::arg("A"), bp::arg("b")), |
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"Default constructor with name and constraint.")) |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
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.add_property("rows", &ConstraintEquality::rows) |
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.add_property("cols", &ConstraintEquality::cols) |
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✓✗ | 7 |
.def("resize", &ConstraintEquality::resize, |
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(bp::arg("r"), bp::arg("c")), "Resize constraint size.") |
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✓✗✓✗ ✓✗✓✗ |
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.add_property("isEquality", &ConstraintEquality::isEquality) |
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✓✗ | 7 |
.add_property("isInequality", &ConstraintEquality::isInequality) |
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✓✗ | 7 |
.add_property("isBound", &ConstraintEquality::isBound) |
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✓✗ | 7 |
.add_property("matrix", &ConstraintEqPythonVisitor::matrix) |
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✓✗✓✗ |
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.add_property("vector", &ConstraintEqPythonVisitor::vector) |
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✓✗ | 7 |
.add_property("lowerBound", &ConstraintEqPythonVisitor::lowerBound) |
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✓✗ | 7 |
.add_property("upperBound", &ConstraintEqPythonVisitor::upperBound) |
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✓✗ | 7 |
.def("setMatrix", |
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(bool(ConstraintEquality::*)( |
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const Eigen::Ref<const Eigen::MatrixXd>)) & |
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ConstraintEquality::setMatrix, |
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bp::args("matrix"), "Set Matrix") |
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✓✗ | 14 |
.def("setVector", |
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(bool(ConstraintEquality::*)( |
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const Eigen::Ref<const Eigen::VectorXd>)) & |
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ConstraintEquality::setVector, |
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bp::args("vector"), "Set Vector") |
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✓✗✓✗ ✓✗ |
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.def("setLowerBound", |
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(bool(ConstraintEquality::*)( |
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const Eigen::Ref<const Eigen::VectorXd>)) & |
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ConstraintEquality::setLowerBound, |
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bp::args("lb"), "Set LowerBound") |
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✓✗✓✗ ✓✗ |
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.def("setUpperBound", |
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(bool(ConstraintEquality::*)( |
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const Eigen::Ref<const Eigen::VectorXd>)) & |
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ConstraintEquality::setUpperBound, |
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bp::args("ub"), "Set UpperBound") |
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; |
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} |
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static Eigen::MatrixXd matrix(const ConstraintEquality& self) { |
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10100 |
return self.matrix(); |
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} |
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static Eigen::VectorXd vector(const ConstraintEquality& self) { |
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return self.vector(); |
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} |
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static Eigen::VectorXd lowerBound(const ConstraintEquality& self) { |
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return self.lowerBound(); |
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} |
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static Eigen::VectorXd upperBound(const ConstraintEquality& 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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✓✗ | 14 |
std::string doc = "Constraint Equality info."; |
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✓✗✓✗ |
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bp::class_<ConstraintEquality>(class_name.c_str(), doc.c_str(), bp::no_init) |
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.def(ConstraintEqPythonVisitor<ConstraintEquality>()); |
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✓✗ | 7 |
eigenpy::enableEigenPySpecific<Eigen::MatrixXd>(); |
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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_equality_hpp__ |
| Generated by: GCOVR (Version 4.2) |