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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_se3_hpp__ |
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#define __tsid_python_traj_se3_hpp__ |
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#include "tsid/bindings/python/fwd.hpp" |
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#include "tsid/trajectories/trajectory-se3.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 TrajSE3> |
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struct TrajectorySE3ConstantPythonVisitor |
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: public boost::python::def_visitor< |
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TrajectorySE3ConstantPythonVisitor<TrajSE3> > { |
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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<std::string>((bp::arg("name")), |
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"Default Constructor with name")) |
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✓✗✓✗
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.def(bp::init<std::string, pinocchio::SE3>( |
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(bp::arg("name"), bp::arg("reference")), |
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"Default Constructor with name and ref_vec")) |
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✓✗✓✗
✓✗✓✗
✓✗ |
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.add_property("size", &TrajSE3::size) |
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.def("setReference", &TrajectorySE3ConstantPythonVisitor::setReference, |
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bp::arg("M_ref")) |
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✓✗✓✗
✓✗ |
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.def("computeNext", &TrajectorySE3ConstantPythonVisitor::computeNext) |
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✓✗ |
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.def("getLastSample", |
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&TrajectorySE3ConstantPythonVisitor::getLastSample, |
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bp::arg("sample")) |
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✓✗✓✗
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.def("has_trajectory_ended", |
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&TrajectorySE3ConstantPythonVisitor::has_trajectory_ended) |
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✓✗✓✗
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.def("getSample", &TrajectorySE3ConstantPythonVisitor::getSample, |
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bp::arg("time")); |
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} |
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static void setReference(TrajSE3& self, const pinocchio::SE3& ref) { |
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self.setReference(ref); |
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} |
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static trajectories::TrajectorySample computeNext(TrajSE3& self) { |
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return self.computeNext(); |
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} |
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static void getLastSample(const TrajSE3& self, |
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trajectories::TrajectorySample& sample) { |
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self.getLastSample(sample); |
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} |
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static bool has_trajectory_ended(const TrajSE3& self) { |
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return self.has_trajectory_ended(); |
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} |
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static trajectories::TrajectorySample getSample(TrajSE3& self, double time) { |
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return self.operator()(time); |
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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 = "Trajectory SE3 Constant info."; |
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✓✗✓✗
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bp::class_<TrajSE3>(class_name.c_str(), doc.c_str(), bp::no_init) |
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.def(TrajectorySE3ConstantPythonVisitor<TrajSE3>()); |
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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_se3_hpp__ |