| Directory: | ./ |
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| File: | include/tsid/bindings/python/trajectories/trajectory-se3.hpp |
| Date: | 2025-05-10 01:12:46 |
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| Lines: | 31 | 31 | 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 | #ifndef __tsid_python_traj_se3_hpp__ | ||
| 19 | #define __tsid_python_traj_se3_hpp__ | ||
| 20 | |||
| 21 | #include "tsid/bindings/python/fwd.hpp" | ||
| 22 | |||
| 23 | #include "tsid/trajectories/trajectory-se3.hpp" | ||
| 24 | namespace tsid { | ||
| 25 | namespace python { | ||
| 26 | namespace bp = boost::python; | ||
| 27 | |||
| 28 | template <typename TrajSE3> | ||
| 29 | struct TrajectorySE3ConstantPythonVisitor | ||
| 30 | : public boost::python::def_visitor< | ||
| 31 | TrajectorySE3ConstantPythonVisitor<TrajSE3> > { | ||
| 32 | template <class PyClass> | ||
| 33 | |||
| 34 | 8 | void visit(PyClass& cl) const { | |
| 35 |
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8 | cl.def(bp::init<std::string>((bp::arg("name")), |
| 36 | "Default Constructor with name")) | ||
| 37 |
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8 | .def(bp::init<std::string, pinocchio::SE3>( |
| 38 |
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16 | (bp::arg("name"), bp::arg("reference")), |
| 39 | "Default Constructor with name and ref_vec")) | ||
| 40 | |||
| 41 | 16 | .add_property("size", &TrajSE3::size) | |
| 42 |
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16 | .def("setReference", &TrajectorySE3ConstantPythonVisitor::setReference, |
| 43 |
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16 | bp::arg("M_ref")) |
| 44 |
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8 | .def("computeNext", &TrajectorySE3ConstantPythonVisitor::computeNext) |
| 45 |
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8 | .def("getLastSample", |
| 46 | &TrajectorySE3ConstantPythonVisitor::getLastSample, | ||
| 47 |
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16 | bp::arg("sample")) |
| 48 |
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8 | .def("has_trajectory_ended", |
| 49 | &TrajectorySE3ConstantPythonVisitor::has_trajectory_ended) | ||
| 50 |
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8 | .def("getSample", &TrajectorySE3ConstantPythonVisitor::getSample, |
| 51 |
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16 | bp::arg("time")); |
| 52 | 8 | } | |
| 53 | 1 | static void setReference(TrajSE3& self, const pinocchio::SE3& ref) { | |
| 54 | 1 | self.setReference(ref); | |
| 55 | 1 | } | |
| 56 | 1001 | static trajectories::TrajectorySample computeNext(TrajSE3& self) { | |
| 57 | 1001 | return self.computeNext(); | |
| 58 | } | ||
| 59 | 1 | static void getLastSample(const TrajSE3& self, | |
| 60 | trajectories::TrajectorySample& sample) { | ||
| 61 | 1 | self.getLastSample(sample); | |
| 62 | 1 | } | |
| 63 | 1 | static bool has_trajectory_ended(const TrajSE3& self) { | |
| 64 | 1 | return self.has_trajectory_ended(); | |
| 65 | } | ||
| 66 | 1 | static trajectories::TrajectorySample getSample(TrajSE3& self, double time) { | |
| 67 | 1 | return self.operator()(time); | |
| 68 | } | ||
| 69 | |||
| 70 | 8 | static void expose(const std::string& class_name) { | |
| 71 |
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8 | std::string doc = "Trajectory SE3 Constant info."; |
| 72 |
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8 | bp::class_<TrajSE3>(class_name.c_str(), doc.c_str(), bp::no_init) |
| 73 |
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8 | .def(TrajectorySE3ConstantPythonVisitor<TrajSE3>()); |
| 74 | 8 | } | |
| 75 | }; | ||
| 76 | } // namespace python | ||
| 77 | } // namespace tsid | ||
| 78 | |||
| 79 | #endif // ifndef __tsid_python_traj_se3_hpp__ | ||
| 80 |