| Directory: | ./ |
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| File: | bindings/python/module.cpp |
| Date: | 2024-08-26 20:29:39 |
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| Lines: | 19 | 19 | 100.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2018 CNRS | ||
| 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 | ||
| 15 | // <http://www.gnu.org/licenses/>. | ||
| 16 | // | ||
| 17 | |||
| 18 | #include "tsid/bindings/python/fwd.hpp" | ||
| 19 | #include <eigenpy/geometry.hpp> | ||
| 20 | |||
| 21 | #include "tsid/bindings/python/robots/expose-robots.hpp" | ||
| 22 | #include "tsid/bindings/python/constraint/expose-constraints.hpp" | ||
| 23 | #include "tsid/bindings/python/contacts/expose-contact.hpp" | ||
| 24 | #include "tsid/bindings/python/trajectories/expose-trajectories.hpp" | ||
| 25 | #include "tsid/bindings/python/tasks/expose-tasks.hpp" | ||
| 26 | #include "tsid/bindings/python/solvers/expose-solvers.hpp" | ||
| 27 | #include "tsid/bindings/python/formulations/expose-formulations.hpp" | ||
| 28 | #include "tsid/bindings/python/math/utils.hpp" | ||
| 29 | |||
| 30 | namespace bp = boost::python; | ||
| 31 | using namespace tsid::python; | ||
| 32 | |||
| 33 |
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28 | BOOST_PYTHON_MODULE(tsid_pywrap) { |
| 34 | 14 | eigenpy::enableEigenPy(); | |
| 35 | 14 | eigenpy::exposeAngleAxis(); | |
| 36 | 14 | eigenpy::exposeQuaternion(); | |
| 37 | |||
| 38 | typedef Eigen::Matrix<double, 6, 6> Matrix6d; | ||
| 39 | typedef Eigen::Matrix<double, 6, 1> Vector6d; | ||
| 40 | typedef Eigen::Matrix<double, 6, Eigen::Dynamic> Matrix6x; | ||
| 41 | typedef Eigen::Matrix<double, 3, Eigen::Dynamic> Matrix3x; | ||
| 42 | |||
| 43 | 14 | eigenpy::enableEigenPySpecific<Matrix6d>(); | |
| 44 | 14 | eigenpy::enableEigenPySpecific<Vector6d>(); | |
| 45 | 14 | eigenpy::enableEigenPySpecific<Matrix6x>(); | |
| 46 | 14 | eigenpy::enableEigenPySpecific<Matrix3x>(); | |
| 47 | 14 | eigenpy::enableEigenPySpecific<Eigen::MatrixXd>(); | |
| 48 | 14 | eigenpy::enableEigenPySpecific<Eigen::Vector3d>(); | |
| 49 | |||
| 50 | 14 | exposeRobots(); | |
| 51 | 14 | exposeConstraints(); | |
| 52 | 14 | exposeContact(); | |
| 53 | 14 | exposeTrajectories(); | |
| 54 | 14 | exposeTasks(); | |
| 55 | 14 | exposeSolvers(); | |
| 56 | 14 | exposeFormulations(); | |
| 57 | 14 | exposeMathUtils(); | |
| 58 | 14 | } | |
| 59 |