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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_traj_sample_hpp__ |
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#define __tsid_python_traj_sample_hpp__ |
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#include "tsid/bindings/python/fwd.hpp" |
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#include <tsid/math/utils.hpp> |
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#include "tsid/trajectories/trajectory-base.hpp" |
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#include <pinocchio/bindings/python/utils/deprecation.hpp> |
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#include <assert.h> |
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namespace tsid { |
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namespace python { |
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namespace bp = boost::python; |
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typedef pinocchio::SE3 SE3; |
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template <typename TrajSample> |
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struct TrajectorySamplePythonVisitor |
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: public boost::python::def_visitor< |
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TrajectorySamplePythonVisitor<TrajSample> > { |
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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<unsigned int>((bp::arg("size")), |
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"Default Constructor with size")) |
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✓✗✓✗ |
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.def(bp::init<unsigned int, unsigned int>( |
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(bp::arg("value_size"), bp::arg("derivative_size")), |
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"Default Constructor with value and derivative size")) |
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✓✗✓✗ ✓✗✓✗ ✓✗ |
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.def("resize", &TrajectorySamplePythonVisitor::resize, bp::arg("size")) |
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✓✗✓✗ |
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.def("resize", &TrajectorySamplePythonVisitor::resize2, |
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bp::args("value_size", "derivative_size")) |
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✓✗✓✗ |
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.def("value", &TrajectorySamplePythonVisitor::value) |
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✓✗ | 7 |
.def("derivative", &TrajectorySamplePythonVisitor::derivative) |
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✓✗ | 7 |
.def("second_derivative", |
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&TrajectorySamplePythonVisitor::second_derivative) |
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✓✗ | 7 |
.def("value", &TrajectorySamplePythonVisitor::setvalue_vec) |
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✓✗ | 7 |
.def("value", &TrajectorySamplePythonVisitor::setvalue_se3) |
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✓✗ | 7 |
.def("derivative", &TrajectorySamplePythonVisitor::setderivative) |
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✓✗ | 7 |
.def("second_derivative", |
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&TrajectorySamplePythonVisitor::setsecond_derivative) |
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// Deprecated methods: |
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✓✗ | 7 |
.def("pos", &TrajectorySamplePythonVisitor::value, |
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pinocchio::python::deprecated_function<>( |
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"This method is now deprecated. Please use .value")) |
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✓✗✓✗ ✓✗ |
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.def("vel", &TrajectorySamplePythonVisitor::derivative, |
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pinocchio::python::deprecated_function<>( |
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"This method is now deprecated. Please use .derivative")) |
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✓✗✓✗ ✓✗ |
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.def( |
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"acc", &TrajectorySamplePythonVisitor::second_derivative, |
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pinocchio::python::deprecated_function<>( |
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"This method is now deprecated. Please use .second_derivative")) |
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✓✗✓✗ ✓✗ |
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.def("pos", &TrajectorySamplePythonVisitor::setvalue_vec, |
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pinocchio::python::deprecated_function<>( |
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"This method is now deprecated. Please use .value")) |
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✓✗✓✗ ✓✗ |
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.def("pos", &TrajectorySamplePythonVisitor::setvalue_se3, |
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pinocchio::python::deprecated_function<>( |
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"This method is now deprecated. Please use .value")) |
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✓✗✓✗ ✓✗ |
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.def("vel", &TrajectorySamplePythonVisitor::setderivative, |
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pinocchio::python::deprecated_function<>( |
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"This method is now deprecated. Please use .derivative")) |
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✓✗✓✗ ✓✗ |
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.def("acc", &TrajectorySamplePythonVisitor::setsecond_derivative, |
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pinocchio::python::deprecated_function<>( |
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"This method is now deprecated. Please use " |
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".second_derivative")); |
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} |
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static void setvalue_vec(TrajSample& self, const Eigen::VectorXd value) { |
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✗✓ | 2 |
assert(self.getValue().size() == value.size()); |
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self.setValue(value); |
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} |
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static void setvalue_se3(TrajSample& self, const pinocchio::SE3& value) { |
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assert(self.getValue().size() == 12); |
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TSID_DISABLE_WARNING_PUSH |
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TSID_DISABLE_WARNING_DEPRECATED |
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tsid::math::SE3ToVector(value, self.pos); |
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TSID_DISABLE_WARNING_POP |
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} |
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static void setderivative(TrajSample& self, |
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const Eigen::VectorXd derivative) { |
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✗✓ | 1 |
assert(self.getDerivative().size() == derivative.size()); |
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self.setDerivative(derivative); |
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} |
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static void setsecond_derivative(TrajSample& self, |
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const Eigen::VectorXd second_derivative) { |
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✗✓ | 1 |
assert(self.getSecondDerivative().size() == second_derivative.size()); |
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self.setSecondDerivative(second_derivative); |
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} |
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static void resize(TrajSample& self, const unsigned int& size) { |
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self.resize(size, size); |
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} |
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static void resize2(TrajSample& self, const unsigned int& value_size, |
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const unsigned int& derivative_size) { |
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self.resize(value_size, derivative_size); |
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} |
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static Eigen::VectorXd value(const TrajSample& self) { |
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return self.getValue(); |
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} |
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static Eigen::VectorXd derivative(const TrajSample& self) { |
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return self.getDerivative(); |
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} |
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static Eigen::VectorXd second_derivative(const TrajSample& self) { |
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return self.getSecondDerivative(); |
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} |
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static void expose(const std::string& class_name) { |
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✓✗ | 7 |
std::string doc = "Trajectory Sample info."; |
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✓✗✓✗ |
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bp::class_<TrajSample>(class_name.c_str(), doc.c_str(), bp::no_init) |
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.def(TrajectorySamplePythonVisitor<TrajSample>()); |
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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_traj_euclidian_hpp__ |
| Generated by: GCOVR (Version 4.2) |