Directory: | ./ |
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File: | include/tsid/bindings/python/tasks/task-com-equality.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_com_hpp__ | ||
19 | #define __tsid_python_task_com_hpp__ | ||
20 | |||
21 | #include "tsid/bindings/python/fwd.hpp" | ||
22 | |||
23 | #include "tsid/tasks/task-com-equality.hpp" | ||
24 | #include "tsid/robots/robot-wrapper.hpp" | ||
25 | #include "tsid/trajectories/trajectory-base.hpp" | ||
26 | #include "tsid/math/constraint-equality.hpp" | ||
27 | #include "tsid/math/constraint-base.hpp" | ||
28 | namespace tsid { | ||
29 | namespace python { | ||
30 | namespace bp = boost::python; | ||
31 | |||
32 | template <typename TaskCOM> | ||
33 | struct TaskCOMEqualityPythonVisitor | ||
34 | : public boost::python::def_visitor< | ||
35 | TaskCOMEqualityPythonVisitor<TaskCOM> > { | ||
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", &TaskCOM::dim, "return dimension size") | |
42 |
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14 | .def("setReference", &TaskCOMEqualityPythonVisitor::setReference, |
43 |
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14 | bp::arg("ref")) |
44 |
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7 | .add_property("getDesiredAcceleration", |
45 | bp::make_function( | ||
46 | &TaskCOMEqualityPythonVisitor::getDesiredAcceleration, | ||
47 | 7 | bp::return_value_policy<bp::copy_const_reference>()), | |
48 | "Return Acc_desired") | ||
49 |
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7 | .def("getAcceleration", &TaskCOMEqualityPythonVisitor::getAcceleration, |
50 |
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14 | bp::arg("dv")) |
51 |
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7 | .add_property("position_error", |
52 | bp::make_function( | ||
53 | &TaskCOMEqualityPythonVisitor::position_error, | ||
54 | 7 | bp::return_value_policy<bp::copy_const_reference>())) | |
55 |
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7 | .add_property("velocity_error", |
56 | bp::make_function( | ||
57 | &TaskCOMEqualityPythonVisitor::velocity_error, | ||
58 | 7 | bp::return_value_policy<bp::copy_const_reference>())) | |
59 |
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7 | .add_property("position", |
60 | bp::make_function( | ||
61 | &TaskCOMEqualityPythonVisitor::position, | ||
62 | 7 | bp::return_value_policy<bp::copy_const_reference>())) | |
63 |
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7 | .add_property("velocity", |
64 | bp::make_function( | ||
65 | &TaskCOMEqualityPythonVisitor::velocity, | ||
66 | 7 | bp::return_value_policy<bp::copy_const_reference>())) | |
67 |
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7 | .add_property("position_ref", |
68 | bp::make_function( | ||
69 | &TaskCOMEqualityPythonVisitor::position_ref, | ||
70 | 7 | bp::return_value_policy<bp::copy_const_reference>())) | |
71 |
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7 | .add_property("velocity_ref", |
72 | bp::make_function( | ||
73 | &TaskCOMEqualityPythonVisitor::velocity_ref, | ||
74 | 7 | bp::return_value_policy<bp::copy_const_reference>())) | |
75 |
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7 | .add_property("Kp", |
76 | bp::make_function( | ||
77 | &TaskCOMEqualityPythonVisitor::Kp, | ||
78 | 7 | bp::return_value_policy<bp::copy_const_reference>())) | |
79 |
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7 | .add_property("Kd", |
80 | bp::make_function( | ||
81 | &TaskCOMEqualityPythonVisitor::Kd, | ||
82 | 7 | bp::return_value_policy<bp::copy_const_reference>())) | |
83 |
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14 | .def("setKp", &TaskCOMEqualityPythonVisitor::setKp, bp::arg("Kp")) |
84 |
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14 | .def("setKd", &TaskCOMEqualityPythonVisitor::setKd, bp::arg("Kd")) |
85 |
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14 | .def("compute", &TaskCOMEqualityPythonVisitor::compute, |
86 | bp::args("t", "q", "v", "data")) | ||
87 |
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7 | .def("getConstraint", &TaskCOMEqualityPythonVisitor::getConstraint) |
88 |
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7 | .add_property("name", &TaskCOMEqualityPythonVisitor::name) |
89 |
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7 | .add_property("mask", |
90 | bp::make_function( | ||
91 | &TaskCOMEqualityPythonVisitor::getmask, | ||
92 | 7 | bp::return_value_policy<bp::copy_const_reference>()), | |
93 | "Return mask") | ||
94 |
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7 | .def("setMask", &TaskCOMEqualityPythonVisitor::setmask, |
95 |
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14 | bp::arg("mask")); |
96 | 7 | } | |
97 | 9 | static std::string name(TaskCOM& self) { | |
98 | 9 | std::string name = self.name(); | |
99 | 9 | return name; | |
100 | } | ||
101 | 1000 | static math::ConstraintEquality compute(TaskCOM& self, const double t, | |
102 | const Eigen::VectorXd& q, | ||
103 | const Eigen::VectorXd& v, | ||
104 | pinocchio::Data& data) { | ||
105 |
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1000 | self.compute(t, q, v, data); |
106 |
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2000 | math::ConstraintEquality cons(self.getConstraint().name(), |
107 |
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1000 | self.getConstraint().matrix(), |
108 | 1000 | self.getConstraint().vector()); | |
109 | 1000 | return cons; | |
110 | } | ||
111 | ✗ | static math::ConstraintEquality getConstraint(const TaskCOM& self) { | |
112 | ✗ | math::ConstraintEquality cons(self.getConstraint().name(), | |
113 | ✗ | self.getConstraint().matrix(), | |
114 | ✗ | self.getConstraint().vector()); | |
115 | ✗ | return cons; | |
116 | } | ||
117 | 2000 | static void setReference(TaskCOM& self, | |
118 | const trajectories::TrajectorySample& ref) { | ||
119 | 2000 | self.setReference(ref); | |
120 | 2000 | } | |
121 | ✗ | static const Eigen::VectorXd& getDesiredAcceleration(const TaskCOM& self) { | |
122 | ✗ | return self.getDesiredAcceleration(); | |
123 | } | ||
124 | ✗ | static Eigen::VectorXd getAcceleration(TaskCOM& self, | |
125 | const Eigen::VectorXd dv) { | ||
126 | ✗ | return self.getAcceleration(dv); | |
127 | } | ||
128 | 1009 | static const Eigen::VectorXd& position_error(const TaskCOM& self) { | |
129 | 1009 | return self.position_error(); | |
130 | } | ||
131 | 10 | static const Eigen::VectorXd& velocity_error(const TaskCOM& self) { | |
132 | 10 | return self.velocity_error(); | |
133 | } | ||
134 | ✗ | static const Eigen::VectorXd& position(const TaskCOM& self) { | |
135 | ✗ | return self.position(); | |
136 | } | ||
137 | ✗ | static const Eigen::VectorXd& velocity(const TaskCOM& self) { | |
138 | ✗ | return self.velocity(); | |
139 | } | ||
140 | ✗ | static const Eigen::VectorXd& position_ref(const TaskCOM& self) { | |
141 | ✗ | return self.position_ref(); | |
142 | } | ||
143 | ✗ | static const Eigen::VectorXd& velocity_ref(const TaskCOM& self) { | |
144 | ✗ | return self.velocity_ref(); | |
145 | } | ||
146 | 1 | static const Eigen::Vector3d& Kp(TaskCOM& self) { return self.Kp(); } | |
147 | 1 | static const Eigen::Vector3d& Kd(TaskCOM& self) { return self.Kd(); } | |
148 | 2 | static void setKp(TaskCOM& self, const ::Eigen::VectorXd Kp) { | |
149 |
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2 | return self.Kp(Kp); |
150 | } | ||
151 | 2 | static void setKd(TaskCOM& self, const ::Eigen::VectorXd Kv) { | |
152 |
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2 | return self.Kd(Kv); |
153 | } | ||
154 | ✗ | static const Eigen::VectorXd& getmask(const TaskCOM& self) { | |
155 | ✗ | return self.getMask(); | |
156 | } | ||
157 | ✗ | static void setmask(TaskCOM& self, const Eigen::VectorXd mask) { | |
158 | ✗ | return self.setMask(mask); | |
159 | } | ||
160 | 7 | static void expose(const std::string& class_name) { | |
161 |
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7 | std::string doc = "TaskCOMEqualityPythonVisitor info."; |
162 |
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7 | bp::class_<TaskCOM>(class_name.c_str(), doc.c_str(), bp::no_init) |
163 |
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7 | .def(TaskCOMEqualityPythonVisitor<TaskCOM>()); |
164 | |||
165 |
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7 | bp::register_ptr_to_python<boost::shared_ptr<math::ConstraintBase> >(); |
166 | 7 | } | |
167 | }; | ||
168 | } // namespace python | ||
169 | } // namespace tsid | ||
170 | |||
171 | #endif // ifndef __tsid_python_task_com_hpp__ | ||
172 |