GCC Code Coverage Report
Directory: ./ Exec Total Coverage
File: include/tsid/bindings/python/tasks/task-am-equality.hpp Lines: 39 57 68.4 %
Date: 2024-02-02 08:47:34 Branches: 44 102 43.1 %

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_task_am_hpp__
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#define __tsid_python_task_am_hpp__
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#include "tsid/bindings/python/fwd.hpp"
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#include "tsid/tasks/task-angular-momentum-equality.hpp"
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#include "tsid/robots/robot-wrapper.hpp"
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#include "tsid/trajectories/trajectory-base.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 TaskAM>
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struct TaskAMEqualityPythonVisitor
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    : public boost::python::def_visitor<TaskAMEqualityPythonVisitor<TaskAM> > {
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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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        .add_property("dim", &TaskAM::dim, "return dimension size")
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        .def("setReference", &TaskAMEqualityPythonVisitor::setReference,
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             bp::arg("ref"))
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        .add_property(
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            "getDesiredMomentumDerivative",
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            bp::make_function(
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                &TaskAMEqualityPythonVisitor::getDesiredMomentumDerivative,
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                bp::return_value_policy<bp::copy_const_reference>()),
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            "Return dL_desired")
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        .def("getdMomentum", &TaskAMEqualityPythonVisitor::getdMomentum,
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             bp::arg("dv"))
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        .add_property("momentum_error",
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                      bp::make_function(
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                          &TaskAMEqualityPythonVisitor::momentum_error,
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                          bp::return_value_policy<bp::copy_const_reference>()))
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        .add_property("momentum",
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                      bp::make_function(
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                          &TaskAMEqualityPythonVisitor::momentum,
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                          bp::return_value_policy<bp::copy_const_reference>()))
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        .add_property("momentum_ref",
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                      bp::make_function(
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                          &TaskAMEqualityPythonVisitor::momentum_ref,
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                          bp::return_value_policy<bp::copy_const_reference>()))
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        .add_property("dmomentum_ref",
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                      bp::make_function(
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                          &TaskAMEqualityPythonVisitor::dmomentum_ref,
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                          bp::return_value_policy<bp::copy_const_reference>()))
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        .add_property("Kp",
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                      bp::make_function(
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                          &TaskAMEqualityPythonVisitor::Kp,
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                          bp::return_value_policy<bp::copy_const_reference>()))
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        .add_property("Kd",
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                      bp::make_function(
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                          &TaskAMEqualityPythonVisitor::Kd,
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                          bp::return_value_policy<bp::copy_const_reference>()))
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        .def("setKp", &TaskAMEqualityPythonVisitor::setKp, bp::arg("Kp"))
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        .def("setKd", &TaskAMEqualityPythonVisitor::setKd, bp::arg("Kd"))
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        .def("compute", &TaskAMEqualityPythonVisitor::compute,
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             bp::args("t", "q", "v", "data"))
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        .def("getConstraint", &TaskAMEqualityPythonVisitor::getConstraint)
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        .add_property("name", &TaskAMEqualityPythonVisitor::name);
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  }
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  static std::string name(TaskAM& 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 compute(TaskAM& 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::ConstraintEquality cons(self.getConstraint().name(),
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                                  self.getConstraint().matrix(),
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                                  self.getConstraint().vector());
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    return cons;
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  }
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  static math::ConstraintEquality getConstraint(const TaskAM& self) {
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    math::ConstraintEquality cons(self.getConstraint().name(),
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                                  self.getConstraint().matrix(),
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                                  self.getConstraint().vector());
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    return cons;
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  }
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  static void setReference(TaskAM& self,
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                           const trajectories::TrajectorySample& ref) {
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    self.setReference(ref);
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  }
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  static const Eigen::Vector3d& getDesiredMomentumDerivative(
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      const TaskAM& self) {
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    return self.getDesiredMomentumDerivative();
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  }
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  static Eigen::Vector3d getdMomentum(TaskAM& self, const Eigen::VectorXd dv) {
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    return self.getdMomentum(dv);
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  }
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  static const Eigen::Vector3d& momentum_error(const TaskAM& self) {
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    return self.momentum_error();
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  }
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  static const Eigen::Vector3d& momentum(const TaskAM& self) {
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    return self.momentum();
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  }
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  static const Eigen::VectorXd& momentum_ref(const TaskAM& self) {
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    return self.momentum_ref();
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  }
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  static const Eigen::VectorXd& dmomentum_ref(const TaskAM& self) {
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    return self.dmomentum_ref();
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  }
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  static const Eigen::Vector3d& Kp(TaskAM& self) { return self.Kp(); }
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  static const Eigen::Vector3d& Kd(TaskAM& self) { return self.Kd(); }
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  static void setKp(TaskAM& self, const ::Eigen::VectorXd Kp) {
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    return self.Kp(Kp);
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  }
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  static void setKd(TaskAM& self, const ::Eigen::VectorXd Kv) {
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    return self.Kd(Kv);
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  }
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  static void expose(const std::string& class_name) {
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    std::string doc = "TaskAMEqualityPythonVisitor info.";
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    bp::class_<TaskAM>(class_name.c_str(), doc.c_str(), bp::no_init)
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        .def(TaskAMEqualityPythonVisitor<TaskAM>());
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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_am_hpp__