| Directory: | ./ |
|---|---|
| File: | include/tsid/bindings/python/tasks/task-joint-bounds.hpp |
| Date: | 2024-10-10 01:09:49 |
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| Lines: | 24 | 52 | 46.2% |
| Branches: | 28 | 92 | 30.4% |
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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_joint_bounds_hpp__ | ||
| 19 | #define __tsid_python_task_joint_bounds_hpp__ | ||
| 20 | |||
| 21 | #include "tsid/bindings/python/fwd.hpp" | ||
| 22 | |||
| 23 | #include "tsid/tasks/task-joint-bounds.hpp" | ||
| 24 | #include "tsid/robots/robot-wrapper.hpp" | ||
| 25 | #include "tsid/math/constraint-bound.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 TaskJointBoundsPythonVisitor | ||
| 34 | : public boost::python::def_visitor<TaskJointBoundsPythonVisitor<Task> > { | ||
| 35 | template <class PyClass> | ||
| 36 | |||
| 37 | 7 | void visit(PyClass& cl) const { | |
| 38 |
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14 | cl.def(bp::init<std::string, robots::RobotWrapper&, double>( |
| 39 |
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21 | (bp::arg("name"), bp::arg("robot"), bp::arg("Time step")), |
| 40 | "Default Constructor")) | ||
| 41 | 14 | .add_property("dim", &Task::dim, "return dimension size") | |
| 42 |
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14 | .def("setTimeStep", &TaskJointBoundsPythonVisitor::setTimeStep, |
| 43 | bp::args("dt")) | ||
| 44 |
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14 | .def("setVelocityBounds", |
| 45 | &TaskJointBoundsPythonVisitor::setVelocityBounds, | ||
| 46 | bp::args("lower", "upper")) | ||
| 47 |
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14 | .def("setAccelerationBounds", |
| 48 | &TaskJointBoundsPythonVisitor::setAccelerationBounds, | ||
| 49 | bp::args("lower", "upper")) | ||
| 50 |
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14 | .def("compute", &TaskJointBoundsPythonVisitor::compute, |
| 51 | bp::args("t", "q", "v", "data")) | ||
| 52 |
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7 | .def("getConstraint", &TaskJointBoundsPythonVisitor::getConstraint) |
| 53 |
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7 | .add_property( |
| 54 | "getAccelerationLowerBounds", | ||
| 55 | bp::make_function( | ||
| 56 | &TaskJointBoundsPythonVisitor::getAccelerationLowerBounds, | ||
| 57 | 7 | bp::return_value_policy<bp::copy_const_reference>())) | |
| 58 |
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7 | .add_property( |
| 59 | "getAccelerationUpperBounds", | ||
| 60 | bp::make_function( | ||
| 61 | &TaskJointBoundsPythonVisitor::getAccelerationUpperBounds, | ||
| 62 | 7 | bp::return_value_policy<bp::copy_const_reference>())) | |
| 63 |
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7 | .add_property("getVelocityLowerBounds", |
| 64 | bp::make_function( | ||
| 65 | &TaskJointBoundsPythonVisitor::getVelocityLowerBounds, | ||
| 66 | 7 | bp::return_value_policy<bp::copy_const_reference>())) | |
| 67 |
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14 | .add_property("getVelocityUpperBounds", |
| 68 | bp::make_function( | ||
| 69 | &TaskJointBoundsPythonVisitor::getVelocityUpperBounds, | ||
| 70 | 7 | bp::return_value_policy<bp::copy_const_reference>())) | |
| 71 |
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7 | .add_property("name", &TaskJointBoundsPythonVisitor::name); |
| 72 | 7 | } | |
| 73 | ✗ | static std::string name(Task& self) { | |
| 74 | ✗ | std::string name = self.name(); | |
| 75 | ✗ | return name; | |
| 76 | } | ||
| 77 | ✗ | static math::ConstraintBound compute(Task& self, const double t, | |
| 78 | const Eigen::VectorXd& q, | ||
| 79 | const Eigen::VectorXd& v, | ||
| 80 | pinocchio::Data& data) { | ||
| 81 | ✗ | self.compute(t, q, v, data); | |
| 82 | ✗ | math::ConstraintBound cons(self.getConstraint().name(), | |
| 83 | ✗ | self.getConstraint().lowerBound(), | |
| 84 | ✗ | self.getConstraint().upperBound()); | |
| 85 | ✗ | return cons; | |
| 86 | } | ||
| 87 | ✗ | static math::ConstraintBound getConstraint(const Task& self) { | |
| 88 | ✗ | math::ConstraintBound cons(self.getConstraint().name(), | |
| 89 | ✗ | self.getConstraint().lowerBound(), | |
| 90 | ✗ | self.getConstraint().upperBound()); | |
| 91 | ✗ | return cons; | |
| 92 | } | ||
| 93 | ✗ | static const Eigen::VectorXd& getAccelerationLowerBounds(const Task& self) { | |
| 94 | ✗ | return self.getAccelerationLowerBounds(); | |
| 95 | } | ||
| 96 | ✗ | static const Eigen::VectorXd& getAccelerationUpperBounds(const Task& self) { | |
| 97 | ✗ | return self.getAccelerationUpperBounds(); | |
| 98 | } | ||
| 99 | ✗ | static const Eigen::VectorXd& getVelocityLowerBounds(const Task& self) { | |
| 100 | ✗ | return self.getVelocityLowerBounds(); | |
| 101 | } | ||
| 102 | ✗ | static const Eigen::VectorXd& getVelocityUpperBounds(const Task& self) { | |
| 103 | ✗ | return self.getVelocityUpperBounds(); | |
| 104 | } | ||
| 105 | ✗ | static void setTimeStep(Task& self, const double dt) { | |
| 106 | ✗ | return self.setTimeStep(dt); | |
| 107 | } | ||
| 108 | ✗ | static void setVelocityBounds(Task& self, const Eigen::VectorXd lower, | |
| 109 | const Eigen::VectorXd upper) { | ||
| 110 | ✗ | return self.setVelocityBounds(lower, upper); | |
| 111 | } | ||
| 112 | ✗ | static void setAccelerationBounds(Task& self, const Eigen::VectorXd lower, | |
| 113 | const Eigen::VectorXd upper) { | ||
| 114 | ✗ | return self.setAccelerationBounds(lower, upper); | |
| 115 | } | ||
| 116 | 7 | static void expose(const std::string& class_name) { | |
| 117 |
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7 | std::string doc = "Task info."; |
| 118 |
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7 | bp::class_<Task>(class_name.c_str(), doc.c_str(), bp::no_init) |
| 119 |
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7 | .def(TaskJointBoundsPythonVisitor<Task>()); |
| 120 | 7 | } | |
| 121 | }; | ||
| 122 | } // namespace python | ||
| 123 | } // namespace tsid | ||
| 124 | |||
| 125 | #endif // ifndef __tsid_python_task_actuation_bounds_hpp__ | ||
| 126 |