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File: | include/tsid/bindings/python/trajectories/trajectory-se3.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_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 | 7 | void visit(PyClass& cl) const { | |
35 |
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7 | cl.def(bp::init<std::string>((bp::arg("name")), |
36 | "Default Constructor with name")) | ||
37 |
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7 | .def(bp::init<std::string, pinocchio::SE3>( |
38 |
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14 | (bp::arg("name"), bp::arg("reference")), |
39 | "Default Constructor with name and ref_vec")) | ||
40 | |||
41 | 14 | .add_property("size", &TrajSE3::size) | |
42 |
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14 | .def("setReference", &TrajectorySE3ConstantPythonVisitor::setReference, |
43 |
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14 | bp::arg("M_ref")) |
44 |
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7 | .def("computeNext", &TrajectorySE3ConstantPythonVisitor::computeNext) |
45 |
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7 | .def("getLastSample", |
46 | &TrajectorySE3ConstantPythonVisitor::getLastSample, | ||
47 |
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14 | bp::arg("sample")) |
48 |
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7 | .def("has_trajectory_ended", |
49 | &TrajectorySE3ConstantPythonVisitor::has_trajectory_ended) | ||
50 |
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7 | .def("getSample", &TrajectorySE3ConstantPythonVisitor::getSample, |
51 |
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14 | bp::arg("time")); |
52 | 7 | } | |
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 | 7 | static void expose(const std::string& class_name) { | |
71 |
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7 | std::string doc = "Trajectory SE3 Constant info."; |
72 |
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7 | bp::class_<TrajSE3>(class_name.c_str(), doc.c_str(), bp::no_init) |
73 |
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7 | .def(TrajectorySE3ConstantPythonVisitor<TrajSE3>()); |
74 | 7 | } | |
75 | }; | ||
76 | } // namespace python | ||
77 | } // namespace tsid | ||
78 | |||
79 | #endif // ifndef __tsid_python_traj_se3_hpp__ | ||
80 |