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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_task_actuation_bounds_hpp__ |
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#define __tsid_python_task_actuation_bounds_hpp__ |
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#include "tsid/bindings/python/fwd.hpp" |
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#include "tsid/tasks/task-actuation-bounds.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-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 Task> |
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struct TaskActuationBoundsPythonVisitor |
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: public boost::python::def_visitor< |
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TaskActuationBoundsPythonVisitor<Task> > { |
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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, robots::RobotWrapper&>( |
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(bp::arg("name"), bp::arg("robot")), "Default Constructor")) |
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✓✗✓✗
✓✗✓✗
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.add_property("dim", &Task::dim, "return dimension size") |
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.add_property("mask", |
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bp::make_function( |
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&TaskActuationBoundsPythonVisitor::getmask, |
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bp::return_value_policy<bp::copy_const_reference>()), |
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"Return mask") |
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✓✗✓✗
✓✗ |
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.def("setMask", &TaskActuationBoundsPythonVisitor::setmask, |
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bp::arg("mask")) |
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✓✗✓✗
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.def("setBounds", &TaskActuationBoundsPythonVisitor::setBounds, |
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bp::args("lower", "upper")) |
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.def("compute", &TaskActuationBoundsPythonVisitor::compute, |
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bp::args("t", "q", "v", "data")) |
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.def("getConstraint", &TaskActuationBoundsPythonVisitor::getConstraint) |
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✓✗ |
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.add_property("getLowerBounds", |
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bp::make_function( |
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&TaskActuationBoundsPythonVisitor::getLowerBounds, |
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bp::return_value_policy<bp::copy_const_reference>())) |
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✓✗✓✗
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.add_property("getUpperBounds", |
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bp::make_function( |
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&TaskActuationBoundsPythonVisitor::getUpperBounds, |
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bp::return_value_policy<bp::copy_const_reference>())) |
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✓✗✓✗
✓✗ |
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.add_property("name", &TaskActuationBoundsPythonVisitor::name); |
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} |
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static std::string name(Task& 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::ConstraintInequality compute(Task& self, 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.compute(t, q, v, data); |
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math::ConstraintInequality cons( |
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self.getConstraint().name(), self.getConstraint().matrix(), |
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self.getConstraint().lowerBound(), self.getConstraint().upperBound()); |
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return cons; |
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} |
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static math::ConstraintInequality getConstraint(const Task& self) { |
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math::ConstraintInequality cons( |
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self.getConstraint().name(), self.getConstraint().matrix(), |
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self.getConstraint().lowerBound(), self.getConstraint().upperBound()); |
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return cons; |
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} |
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static const Eigen::VectorXd& getmask(const Task& self) { |
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return self.mask(); |
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} |
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static void setmask(Task& self, const Eigen::VectorXd mask) { |
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return self.mask(mask); |
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} |
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static const Eigen::VectorXd& getLowerBounds(const Task& self) { |
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return self.getLowerBounds(); |
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} |
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static const Eigen::VectorXd& getUpperBounds(const Task& self) { |
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return self.getUpperBounds(); |
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} |
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static void setBounds(Task& self, const Eigen::VectorXd lower, |
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const Eigen::VectorXd upper) { |
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return self.setBounds(lower, upper); |
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} |
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static void expose(const std::string& class_name) { |
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std::string doc = "Task info."; |
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bp::class_<Task>(class_name.c_str(), doc.c_str(), bp::no_init) |
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.def(TaskActuationBoundsPythonVisitor<Task>()); |
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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_task_actuation_bounds_hpp__ |