Directory: | ./ |
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File: | include/tsid/bindings/python/tasks/task-actuation-bounds.hpp |
Date: | 2024-08-26 20:29:39 |
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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 | #ifndef __tsid_python_task_actuation_bounds_hpp__ | ||
19 | #define __tsid_python_task_actuation_bounds_hpp__ | ||
20 | |||
21 | #include "tsid/bindings/python/fwd.hpp" | ||
22 | |||
23 | #include "tsid/tasks/task-actuation-bounds.hpp" | ||
24 | #include "tsid/robots/robot-wrapper.hpp" | ||
25 | #include "tsid/math/constraint-inequality.hpp" | ||
26 | #include "tsid/math/constraint-base.hpp" | ||
27 | |||
28 | namespace tsid { | ||
29 | namespace python { | ||
30 | namespace bp = boost::python; | ||
31 | |||
32 | template <typename Task> | ||
33 | struct TaskActuationBoundsPythonVisitor | ||
34 | : public boost::python::def_visitor< | ||
35 | TaskActuationBoundsPythonVisitor<Task> > { | ||
36 | template <class PyClass> | ||
37 | |||
38 | 7 | void visit(PyClass& cl) const { | |
39 |
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7 | cl.def(bp::init<std::string, robots::RobotWrapper&>( |
40 |
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14 | (bp::arg("name"), bp::arg("robot")), "Default Constructor")) |
41 | 14 | .add_property("dim", &Task::dim, "return dimension size") | |
42 |
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7 | .add_property("mask", |
43 | bp::make_function( | ||
44 | &TaskActuationBoundsPythonVisitor::getmask, | ||
45 | 7 | bp::return_value_policy<bp::copy_const_reference>()), | |
46 | "Return mask") | ||
47 |
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7 | .def("setMask", &TaskActuationBoundsPythonVisitor::setmask, |
48 |
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14 | bp::arg("mask")) |
49 |
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14 | .def("setBounds", &TaskActuationBoundsPythonVisitor::setBounds, |
50 | bp::args("lower", "upper")) | ||
51 |
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14 | .def("compute", &TaskActuationBoundsPythonVisitor::compute, |
52 | bp::args("t", "q", "v", "data")) | ||
53 |
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7 | .def("getConstraint", &TaskActuationBoundsPythonVisitor::getConstraint) |
54 |
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7 | .add_property("getLowerBounds", |
55 | bp::make_function( | ||
56 | &TaskActuationBoundsPythonVisitor::getLowerBounds, | ||
57 | 7 | bp::return_value_policy<bp::copy_const_reference>())) | |
58 |
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14 | .add_property("getUpperBounds", |
59 | bp::make_function( | ||
60 | &TaskActuationBoundsPythonVisitor::getUpperBounds, | ||
61 | 7 | bp::return_value_policy<bp::copy_const_reference>())) | |
62 |
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7 | .add_property("name", &TaskActuationBoundsPythonVisitor::name); |
63 | 7 | } | |
64 | ✗ | static std::string name(Task& self) { | |
65 | ✗ | std::string name = self.name(); | |
66 | ✗ | return name; | |
67 | } | ||
68 | ✗ | static math::ConstraintInequality compute(Task& self, const double t, | |
69 | const Eigen::VectorXd& q, | ||
70 | const Eigen::VectorXd& v, | ||
71 | pinocchio::Data& data) { | ||
72 | ✗ | self.compute(t, q, v, data); | |
73 | ✗ | math::ConstraintInequality cons( | |
74 | ✗ | self.getConstraint().name(), self.getConstraint().matrix(), | |
75 | ✗ | self.getConstraint().lowerBound(), self.getConstraint().upperBound()); | |
76 | ✗ | return cons; | |
77 | } | ||
78 | ✗ | static math::ConstraintInequality getConstraint(const Task& self) { | |
79 | ✗ | math::ConstraintInequality cons( | |
80 | ✗ | self.getConstraint().name(), self.getConstraint().matrix(), | |
81 | ✗ | self.getConstraint().lowerBound(), self.getConstraint().upperBound()); | |
82 | ✗ | return cons; | |
83 | } | ||
84 | ✗ | static const Eigen::VectorXd& getmask(const Task& self) { | |
85 | ✗ | return self.mask(); | |
86 | } | ||
87 | ✗ | static void setmask(Task& self, const Eigen::VectorXd mask) { | |
88 | ✗ | return self.mask(mask); | |
89 | } | ||
90 | ✗ | static const Eigen::VectorXd& getLowerBounds(const Task& self) { | |
91 | ✗ | return self.getLowerBounds(); | |
92 | } | ||
93 | ✗ | static const Eigen::VectorXd& getUpperBounds(const Task& self) { | |
94 | ✗ | return self.getUpperBounds(); | |
95 | } | ||
96 | ✗ | static void setBounds(Task& self, const Eigen::VectorXd lower, | |
97 | const Eigen::VectorXd upper) { | ||
98 | ✗ | return self.setBounds(lower, upper); | |
99 | } | ||
100 | 7 | static void expose(const std::string& class_name) { | |
101 |
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7 | std::string doc = "Task info."; |
102 |
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7 | bp::class_<Task>(class_name.c_str(), doc.c_str(), bp::no_init) |
103 |
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7 | .def(TaskActuationBoundsPythonVisitor<Task>()); |
104 | 7 | } | |
105 | }; | ||
106 | } // namespace python | ||
107 | } // namespace tsid | ||
108 | |||
109 | #endif // ifndef __tsid_python_task_actuation_bounds_hpp__ | ||
110 |