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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_solver_quadprog_hpp__ |
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#define __tsid_python_solver_quadprog_hpp__ |
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#include "tsid/bindings/python/fwd.hpp" |
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#include "tsid/solvers/solver-HQP-eiquadprog.hpp" |
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#include "tsid/solvers/solver-HQP-eiquadprog-fast.hpp" |
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#include "tsid/solvers/solver-HQP-output.hpp" |
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#include "tsid/solvers/fwd.hpp" |
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#include "tsid/bindings/python/utils/container.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 Solver> |
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struct SolverHQuadProgPythonVisitor |
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: public boost::python::def_visitor<SolverHQuadProgPythonVisitor<Solver> > { |
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template <class PyClass> |
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void visit(PyClass &cl) const { |
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✓✗ |
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cl.def(bp::init<const std::string &>((bp::arg("name")), |
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"Default Constructor with name")) |
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✓✗✓✗
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.def("resize", &SolverHQuadProgPythonVisitor::resize, |
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bp::args("n", "neq", "nin")) |
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✓✗✓✗
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.add_property("ObjVal", &Solver::getObjectiveValue, "return obj value") |
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.def("solve", &SolverHQuadProgPythonVisitor::solve, bp::args("HQPData")) |
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✓✗✓✗
✓✗ |
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.def("solve", &SolverHQuadProgPythonVisitor::solver_helper, |
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bp::args("HQPData for Python")) |
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✓✗✓✗
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.add_property("qpData", &Solver::getQPData, "return QP Data object") |
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.def("retrieveQPData", &Solver::retrieveQPData, bp::args("HQPData")) |
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✓✗✓✗
✓✗✓✗
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.def("retrieveQPData", &SolverHQuadProgPythonVisitor::retrieveQPData, |
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bp::args("HQPData for Python")); |
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} |
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static void resize(Solver &self, unsigned int n, unsigned int neq, |
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unsigned int nin) { |
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self.resize(n, neq, nin); |
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} |
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static solvers::HQPOutput solve(Solver &self, |
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const solvers::HQPData &problemData) { |
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solvers::HQPOutput output; |
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output = self.solve(problemData); |
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return output; |
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} |
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static solvers::HQPOutput solver_helper(Solver &self, HQPDatas &HQPDatas) { |
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solvers::HQPOutput output; |
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solvers::HQPData &data = HQPDatas.get(); |
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output = self.solve(data); |
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return output; |
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} |
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static solvers::QPDataQuadProg retrieveQPData(Solver &self, |
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HQPDatas &HQPDatas) { |
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solvers::HQPData data = HQPDatas.get(); |
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self.retrieveQPData(data); |
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return self.getQPData(); |
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} |
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static void expose(const std::string &class_name) { |
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✓✗ |
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std::string doc = "Solver EiQuadProg info."; |
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bp::class_<Solver>(class_name.c_str(), doc.c_str(), bp::no_init) |
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.def(SolverHQuadProgPythonVisitor<Solver>()); |
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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_solver_quadprog_hpp__ |