Directory: | ./ |
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File: | include/tsid/bindings/python/contacts/measured-6d-wrench.hpp |
Date: | 2025-03-29 14:29:37 |
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1 | // | ||
2 | // Copyright (c) 2022 CNRS INRIA LORIA | ||
3 | // | ||
4 | // This file is part of tsid | ||
5 | // tsid is free software: you can redistribute it | ||
6 | // and/or modify it under the terms of the GNU Lesser General Public | ||
7 | // License as published by the Free Software Foundation, either version | ||
8 | // 3 of the License, or (at your option) any later version. | ||
9 | // tsid is distributed in the hope that it will be | ||
10 | // useful, but WITHOUT ANY WARRANTY; without even the implied warranty | ||
11 | // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU | ||
12 | // General Lesser Public License for more details. You should have | ||
13 | // received a copy of the GNU Lesser General Public License along with | ||
14 | // tsid If not, see <http://www.gnu.org/licenses/>. | ||
15 | // | ||
16 | |||
17 | #ifndef __tsid_python_measured_6d_wrench_hpp__ | ||
18 | #define __tsid_python_measured_6d_wrench_hpp__ | ||
19 | |||
20 | #include "tsid/bindings/python/fwd.hpp" | ||
21 | #include "tsid/contacts/measured-6d-wrench.hpp" | ||
22 | #include "tsid/robots/robot-wrapper.hpp" | ||
23 | #include "pinocchio/multibody/data.hpp" | ||
24 | |||
25 | namespace tsid { | ||
26 | namespace python { | ||
27 | namespace bp = boost::python; | ||
28 | |||
29 | template <typename Measured6dWrench> | ||
30 | struct Measured6dWrenchPythonVisitor | ||
31 | : public boost::python::def_visitor< | ||
32 | Measured6dWrenchPythonVisitor<Measured6dWrench> > { | ||
33 | template <class PyClass> | ||
34 | 8 | void visit(PyClass &cl) const { | |
35 | cl | ||
36 | // Expose the constructor: | ||
37 |
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16 | .def(bp::init<std::string, typename Measured6dWrench::RobotWrapper &, |
38 | std::string>( | ||
39 |
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24 | (bp::arg("name"), bp::arg("robot"), bp::arg("frameName")), |
40 | "Constructor for Measured6dwrench")) | ||
41 | |||
42 | // Expose the name getter and setter: | ||
43 |
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8 | .add_property("name", &Measured6dWrenchPythonVisitor::getName, |
44 | &Measured6dWrenchPythonVisitor::setName, | ||
45 | "Get or set the name of the measured-6Dwrench instance") | ||
46 | |||
47 | // Expose computeJointTorques(Data &data) | ||
48 |
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16 | .def("computeJointTorques", |
49 | &Measured6dWrenchPythonVisitor::computeJointTorques, | ||
50 | bp::args("data"), | ||
51 | "Compute the joint torques from the measured contact force") | ||
52 | |||
53 | // Expose setMeasuredContactForce(const Vector6 &fext) | ||
54 |
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16 | .def("setMeasuredContactForce", |
55 | &Measured6dWrenchPythonVisitor::setMeasuredContactForce, | ||
56 | bp::args("fext"), "Set the measured contact force") | ||
57 | |||
58 | // Expose getMeasuredContactForce() as a read-only property. | ||
59 |
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16 | .add_property( |
60 | "measuredContactForce", | ||
61 | bp::make_function( | ||
62 | &Measured6dWrenchPythonVisitor::getMeasuredContactForce), | ||
63 | "Get the measured contact force") | ||
64 | |||
65 | // Expose useLocalFrame(bool local_frame) | ||
66 |
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8 | .def("useLocalFrame", &Measured6dWrenchPythonVisitor::useLocalFrame, |
67 | bp::args("local_frame"), | ||
68 | "Specify whether to use the local frame for external force and " | ||
69 | "jacobian"); | ||
70 | 8 | } | |
71 | |||
72 | // Wrapper for name() getter. | ||
73 | ✗ | static std::string getName(Measured6dWrench &self) { return self.name(); } | |
74 | |||
75 | // Wrapper for name(const std::string &) setter. | ||
76 | ✗ | static void setName(Measured6dWrench &self, const std::string &name) { | |
77 | ✗ | self.name(name); | |
78 | } | ||
79 | |||
80 | // Wrapper for computeJointTorques(Data &data) returning by value. | ||
81 | ✗ | static typename Measured6dWrench::Vector computeJointTorques( | |
82 | Measured6dWrench &self, pinocchio::Data &data) { | ||
83 | ✗ | return self.computeJointTorques(data); | |
84 | } | ||
85 | |||
86 | // Wrapper for setMeasuredContactForce(const Vector6 &fext) | ||
87 | 1 | static void setMeasuredContactForce( | |
88 | Measured6dWrench &self, const typename Measured6dWrench::Vector6 &fext) { | ||
89 | 1 | self.setMeasuredContactForce(fext); | |
90 | 1 | } | |
91 | |||
92 | // Wrapper for getMeasuredContactForce() returning by value. | ||
93 | 1 | static typename Measured6dWrench::Vector6 getMeasuredContactForce( | |
94 | Measured6dWrench &self) { | ||
95 | 1 | return self.getMeasuredContactForce(); | |
96 | } | ||
97 | |||
98 | // Wrapper for useLocalFrame(bool local_frame) | ||
99 | ✗ | static void useLocalFrame(Measured6dWrench &self, bool local_frame) { | |
100 | ✗ | self.useLocalFrame(local_frame); | |
101 | } | ||
102 | |||
103 | // Function to expose the binding. | ||
104 | 8 | static void expose(const std::string &class_name) { | |
105 |
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8 | std::string doc = "Bindings for tsid::contacts::Measured6dwrench"; |
106 |
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8 | bp::class_<Measured6dWrench>(class_name.c_str(), doc.c_str(), bp::no_init) |
107 |
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8 | .def(Measured6dWrenchPythonVisitor<Measured6dWrench>()); |
108 | 8 | } | |
109 | }; | ||
110 | |||
111 | } // namespace python | ||
112 | } // namespace tsid | ||
113 | |||
114 | #endif // __tsid_python_measured_6d_wrench_hpp__ | ||
115 |