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// Copyright (c) 2021 University of Trento |
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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_cop_hpp__ |
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#define __tsid_python_task_cop_hpp__ |
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#include "tsid/bindings/python/fwd.hpp" |
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#include "tsid/tasks/task-cop-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 TaskCOP> |
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struct TaskCOPEqualityPythonVisitor |
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: public boost::python::def_visitor< |
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TaskCOPEqualityPythonVisitor<TaskCOP> > { |
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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", &TaskCOP::dim, "return dimension size") |
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.def("setReference", &TaskCOPEqualityPythonVisitor::setReference, |
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bp::arg("ref")) |
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✓✗✓✗
✓✗ |
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.def("setContactNormal", |
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&TaskCOPEqualityPythonVisitor::setContactNormal, bp::arg("normal")) |
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✓✗✓✗
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.def("compute", &TaskCOPEqualityPythonVisitor::compute, |
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bp::args("t", "q", "v", "data")) |
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✓✗✓✗
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.def("getConstraint", &TaskCOPEqualityPythonVisitor::getConstraint) |
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✓✗✓✗
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.add_property("name", &TaskCOPEqualityPythonVisitor::name); |
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} |
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static std::string name(TaskCOP& 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(TaskCOP& 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 TaskCOP& 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(TaskCOP& self, const Eigen::Vector3d& ref) { |
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self.setReference(ref); |
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} |
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static void setContactNormal(TaskCOP& self, const Eigen::Vector3d& n) { |
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self.setContactNormal(n); |
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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 = "TaskCOPEqualityPythonVisitor info."; |
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✓✗✓✗
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bp::class_<TaskCOP>(class_name.c_str(), doc.c_str(), bp::no_init) |
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.def(TaskCOPEqualityPythonVisitor<TaskCOP>()); |
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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_cop_hpp__ |