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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_contact_6d_hpp__ |
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#define __tsid_python_contact_6d_hpp__ |
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#include "tsid/bindings/python/fwd.hpp" |
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#include "tsid/contacts/contact-point.hpp" |
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#include "tsid/robots/robot-wrapper.hpp" |
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#include "tsid/math/constraint-inequality.hpp" |
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#include "tsid/math/constraint-equality.hpp" |
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#include "tsid/math/constraint-base.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 ContactPoint> |
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struct ContactPointPythonVisitor |
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: public boost::python::def_visitor< |
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ContactPointPythonVisitor<ContactPoint> > { |
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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, robots::RobotWrapper&, std::string, |
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Eigen::VectorXd, double, double, double>( |
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(bp::arg("name"), bp::arg("robot"), bp::arg("framename"), |
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bp::arg("contactNormal"), bp::arg("frictionCoeff"), |
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bp::arg("minForce"), bp::arg("maxForce")), |
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"Default Constructor")) |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ |
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.add_property("n_motion", &ContactPoint::n_motion, |
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"return number of motion") |
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.add_property("n_force", &ContactPoint::n_force, |
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"return number of force") |
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✓✗ | 7 |
.add_property("name", &ContactPointPythonVisitor::name, "return name") |
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✓✗✓✗ |
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.def("computeMotionTask", &ContactPointPythonVisitor::computeMotionTask, |
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bp::args("t", "q", "v", "data")) |
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✓✗✓✗ |
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.def("computeForceTask", &ContactPointPythonVisitor::computeForceTask, |
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bp::args("t", "q", "v", "data")) |
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✓✗✓✗ |
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.def("computeForceRegularizationTask", |
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&ContactPointPythonVisitor::computeForceRegularizationTask, |
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bp::args("t", "q", "v", "data")) |
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✓✗✓✗ |
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.add_property("getForceGeneratorMatrix", |
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bp::make_function( |
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&ContactPointPythonVisitor::getForceGeneratorMatrix, |
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bp::return_value_policy<bp::copy_const_reference>())) |
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✓✗✓✗ |
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.def("getNormalForce", &ContactPointPythonVisitor::getNormalForce, |
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bp::arg("vec")) |
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✓✗✓✗ |
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.add_property("getMinNormalForce", &ContactPoint::getMinNormalForce) |
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.add_property("getMaxNormalForce", &ContactPoint::getMaxNormalForce) |
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✓✗ | 7 |
.add_property("Kp", |
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bp::make_function( |
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&ContactPointPythonVisitor::Kp, |
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bp::return_value_policy<bp::copy_const_reference>())) |
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✓✗✓✗ ✓✗ |
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.add_property("Kd", |
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bp::make_function( |
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&ContactPointPythonVisitor::Kd, |
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bp::return_value_policy<bp::copy_const_reference>())) |
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✓✗✓✗ |
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.def("setKp", &ContactPointPythonVisitor::setKp, bp::arg("Kp")) |
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✓✗✓✗ |
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.def("setKd", &ContactPointPythonVisitor::setKd, bp::arg("Kd")) |
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✓✗✓✗ |
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.def("useLocalFrame", &ContactPointPythonVisitor::useLocalFrame, |
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bp::arg("local_frame")) |
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✓✗✓✗ |
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.def("setContactNormal", &ContactPointPythonVisitor::setContactNormal, |
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bp::args("vec")) |
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✓✗✓✗ |
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.def("setFrictionCoefficient", |
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&ContactPointPythonVisitor::setFrictionCoefficient, |
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bp::args("friction_coeff")) |
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✓✗✓✗ |
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.def("setMinNormalForce", &ContactPointPythonVisitor::setMinNormalForce, |
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bp::args("min_force")) |
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✓✗✓✗ |
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.def("setMaxNormalForce", &ContactPointPythonVisitor::setMaxNormalForce, |
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bp::args("max_force")) |
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✓✗✓✗ |
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.def("setReference", &ContactPointPythonVisitor::setReference, |
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bp::args("SE3")) |
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✓✗✓✗ |
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.def("setForceReference", &ContactPointPythonVisitor::setForceReference, |
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bp::args("f_vec")) |
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✓✗✓✗ ✓✗ |
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.def("setRegularizationTaskWeightVector", |
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&ContactPointPythonVisitor::setRegularizationTaskWeightVector, |
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bp::args("w_vec")); |
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} |
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static std::string name(ContactPoint& self) { |
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std::string name = self.name(); |
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return name; |
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} |
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static math::ConstraintEquality computeMotionTask(ContactPoint& self, |
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const double t, |
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const Eigen::VectorXd& q, |
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const Eigen::VectorXd& v, |
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pinocchio::Data& data) { |
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self.computeMotionTask(t, q, v, data); |
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math::ConstraintEquality cons(self.getMotionConstraint().name(), |
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self.getMotionConstraint().matrix(), |
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self.getMotionConstraint().vector()); |
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return cons; |
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} |
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static math::ConstraintInequality computeForceTask( |
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ContactPoint& self, const double t, const Eigen::VectorXd& q, |
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const Eigen::VectorXd& v, const pinocchio::Data& data) { |
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self.computeForceTask(t, q, v, data); |
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math::ConstraintInequality cons(self.getForceConstraint().name(), |
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self.getForceConstraint().matrix(), |
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self.getForceConstraint().lowerBound(), |
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self.getForceConstraint().upperBound()); |
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return cons; |
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} |
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static math::ConstraintEquality computeForceRegularizationTask( |
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ContactPoint& self, const double t, const Eigen::VectorXd& q, |
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const Eigen::VectorXd& v, const pinocchio::Data& data) { |
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self.computeForceRegularizationTask(t, q, v, data); |
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math::ConstraintEquality cons(self.getForceRegularizationTask().name(), |
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self.getForceRegularizationTask().matrix(), |
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self.getForceRegularizationTask().vector()); |
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return cons; |
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} |
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static void useLocalFrame(ContactPoint& self, const bool local_frame) { |
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self.useLocalFrame(local_frame); |
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} |
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static const Eigen::MatrixXd& getForceGeneratorMatrix(ContactPoint& self) { |
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return self.getForceGeneratorMatrix(); |
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} |
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static const Eigen::VectorXd& Kp(ContactPoint& self) { return self.Kp(); } |
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static const Eigen::VectorXd& Kd(ContactPoint& self) { return self.Kd(); } |
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static void setKp(ContactPoint& self, const ::Eigen::VectorXd Kp) { |
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return self.Kp(Kp); |
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} |
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static void setKd(ContactPoint& self, const ::Eigen::VectorXd Kd) { |
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return self.Kd(Kd); |
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} |
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static bool setContactPoints(ContactPoint& self, |
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const ::Eigen::MatrixXd contactpoints) { |
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return self.setContactPoints(contactpoints); |
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} |
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static bool setContactNormal(ContactPoint& self, |
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const ::Eigen::VectorXd contactNormal) { |
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return self.setContactNormal(contactNormal); |
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} |
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static bool setFrictionCoefficient(ContactPoint& self, |
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const double frictionCoefficient) { |
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return self.setFrictionCoefficient(frictionCoefficient); |
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} |
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static bool setMinNormalForce(ContactPoint& self, |
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const double minNormalForce) { |
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return self.setMinNormalForce(minNormalForce); |
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} |
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static bool setMaxNormalForce(ContactPoint& self, |
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const double maxNormalForce) { |
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return self.setMaxNormalForce(maxNormalForce); |
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} |
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static void setReference(ContactPoint& self, const pinocchio::SE3& ref) { |
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self.setReference(ref); |
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} |
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static void setForceReference(ContactPoint& self, |
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const ::Eigen::VectorXd f_ref) { |
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self.setForceReference(f_ref); |
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} |
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static void setRegularizationTaskWeightVector(ContactPoint& self, |
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const ::Eigen::VectorXd w) { |
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self.setRegularizationTaskWeightVector(w); |
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} |
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static double getNormalForce(ContactPoint& self, Eigen::VectorXd f) { |
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return self.getNormalForce(f); |
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} |
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7 |
static void expose(const std::string& class_name) { |
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✓✗ | 7 |
std::string doc = "ContactPoint info."; |
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✓✗✓✗ |
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bp::class_<ContactPoint>(class_name.c_str(), doc.c_str(), bp::no_init) |
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.def(ContactPointPythonVisitor<ContactPoint>()); |
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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_contact_hpp__ |
| Generated by: GCOVR (Version 4.2) |