Directory: | ./ |
---|---|
File: | bindings/python/module.cpp |
Date: | 2024-08-26 20:29:39 |
Exec | Total | Coverage | |
---|---|---|---|
Lines: | 19 | 19 | 100.0% |
Branches: | 2 | 4 | 50.0% |
Line | Branch | Exec | Source |
---|---|---|---|
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 |
2/4✓ Branch 0 taken 7 times.
✗ Branch 1 not taken.
✓ Branch 3 taken 7 times.
✗ Branch 4 not taken.
|
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 |