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// |
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// Copyright (c) 2023 MIPT |
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// |
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// This file is part of tsid |
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// tsid is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// tsid is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// tsid If not, see |
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// <http://www.gnu.org/licenses/>. |
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// |
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#ifndef __tsid_python_contact_two_frame_positions_hpp__ |
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#define __tsid_python_contact_two_frame_positions_hpp__ |
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#include "tsid/bindings/python/fwd.hpp" |
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#include "tsid/contacts/contact-two-frame-positions.hpp" |
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#include "tsid/robots/robot-wrapper.hpp" |
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#include "tsid/math/constraint-inequality.hpp" |
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#include "tsid/math/constraint-equality.hpp" |
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#include "tsid/math/constraint-base.hpp" |
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namespace tsid { |
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namespace python { |
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namespace bp = boost::python; |
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template <typename ContactTwoFramePositions> |
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struct ContactTwoFramePositionsPythonVisitor |
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: public boost::python::def_visitor< |
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ContactTwoFramePositionsPythonVisitor<ContactTwoFramePositions> > { |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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✓✗ | 7 |
cl |
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.def(bp::init<std::string, robots::RobotWrapper&, std::string, |
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std::string, double, double>( |
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(bp::arg("name"), bp::arg("robot"), bp::arg("framename1"), |
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bp::arg("framename2"), bp::arg("minForce"), bp::arg("maxForce")), |
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"Default Constructor")) |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ |
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.add_property("n_motion", &ContactTwoFramePositions::n_motion, |
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"return number of motion") |
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.add_property("n_force", &ContactTwoFramePositions::n_force, |
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"return number of force") |
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✓✗ | 7 |
.add_property("name", &ContactTwoFramePositionsPythonVisitor::name, |
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"return name") |
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✓✗✓✗ |
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.def("computeMotionTask", |
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&ContactTwoFramePositionsPythonVisitor::computeMotionTask, |
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bp::args("t", "q", "v", "data")) |
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✓✗✓✗ |
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.def("computeForceTask", |
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&ContactTwoFramePositionsPythonVisitor::computeForceTask, |
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bp::args("t", "q", "v", "data")) |
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✓✗✓✗ |
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.def("computeForceRegularizationTask", |
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&ContactTwoFramePositionsPythonVisitor:: |
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computeForceRegularizationTask, |
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bp::args("t", "q", "v", "data")) |
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✓✗✓✗ |
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.add_property( |
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"getForceGeneratorMatrix", |
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bp::make_function( |
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&ContactTwoFramePositionsPythonVisitor::getForceGeneratorMatrix, |
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bp::return_value_policy<bp::copy_const_reference>())) |
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✓✗✓✗ |
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.def("getNormalForce", |
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&ContactTwoFramePositionsPythonVisitor::getNormalForce, |
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bp::arg("vec")) |
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✓✗✓✗ |
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.add_property("getMinNormalForce", |
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&ContactTwoFramePositions::getMinNormalForce) |
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.add_property("getMaxNormalForce", |
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&ContactTwoFramePositions::getMaxNormalForce) |
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✓✗ | 7 |
.add_property("Kp", |
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bp::make_function( |
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&ContactTwoFramePositionsPythonVisitor::Kp, |
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bp::return_value_policy<bp::copy_const_reference>())) |
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✓✗✓✗ ✓✗ |
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.add_property("Kd", |
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bp::make_function( |
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&ContactTwoFramePositionsPythonVisitor::Kd, |
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bp::return_value_policy<bp::copy_const_reference>())) |
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✓✗✓✗ |
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.def("setKp", &ContactTwoFramePositionsPythonVisitor::setKp, |
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bp::arg("Kp")) |
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✓✗✓✗ |
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.def("setKd", &ContactTwoFramePositionsPythonVisitor::setKd, |
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bp::arg("Kd")) |
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✓✗✓✗ |
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.def("setContactNormal", |
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&ContactTwoFramePositionsPythonVisitor::setContactNormal, |
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bp::args("vec")) |
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✓✗✓✗ |
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.def("setFrictionCoefficient", |
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&ContactTwoFramePositionsPythonVisitor::setFrictionCoefficient, |
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bp::args("friction_coeff")) |
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✓✗✓✗ |
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.def("setMinNormalForce", |
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&ContactTwoFramePositionsPythonVisitor::setMinNormalForce, |
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bp::args("min_force")) |
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✓✗✓✗ |
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.def("setMaxNormalForce", |
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&ContactTwoFramePositionsPythonVisitor::setMaxNormalForce, |
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bp::args("max_force")) |
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✓✗✓✗ |
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.def("setForceReference", |
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&ContactTwoFramePositionsPythonVisitor::setForceReference, |
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bp::args("f_vec")) |
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✓✗✓✗ ✓✗ |
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.def("setRegularizationTaskWeightVector", |
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&ContactTwoFramePositionsPythonVisitor:: |
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setRegularizationTaskWeightVector, |
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bp::args("w_vec")); |
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} |
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static std::string name(ContactTwoFramePositions& self) { |
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std::string name = self.name(); |
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return name; |
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} |
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static math::ConstraintEquality computeMotionTask( |
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ContactTwoFramePositions& self, const double t, const Eigen::VectorXd& q, |
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const Eigen::VectorXd& v, pinocchio::Data& data) { |
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self.computeMotionTask(t, q, v, data); |
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math::ConstraintEquality cons(self.getMotionConstraint().name(), |
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self.getMotionConstraint().matrix(), |
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self.getMotionConstraint().vector()); |
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return cons; |
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} |
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static math::ConstraintInequality computeForceTask( |
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ContactTwoFramePositions& self, const double t, const Eigen::VectorXd& q, |
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const Eigen::VectorXd& v, const pinocchio::Data& data) { |
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self.computeForceTask(t, q, v, data); |
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math::ConstraintInequality cons(self.getForceConstraint().name(), |
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self.getForceConstraint().matrix(), |
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self.getForceConstraint().lowerBound(), |
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self.getForceConstraint().upperBound()); |
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return cons; |
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} |
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static math::ConstraintEquality computeForceRegularizationTask( |
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ContactTwoFramePositions& self, const double t, const Eigen::VectorXd& q, |
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const Eigen::VectorXd& v, const pinocchio::Data& data) { |
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self.computeForceRegularizationTask(t, q, v, data); |
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math::ConstraintEquality cons(self.getForceRegularizationTask().name(), |
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self.getForceRegularizationTask().matrix(), |
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self.getForceRegularizationTask().vector()); |
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return cons; |
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} |
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static const Eigen::MatrixXd& getForceGeneratorMatrix( |
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ContactTwoFramePositions& self) { |
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return self.getForceGeneratorMatrix(); |
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} |
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static const Eigen::VectorXd& Kp(ContactTwoFramePositions& self) { |
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return self.Kp(); |
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} |
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static const Eigen::VectorXd& Kd(ContactTwoFramePositions& self) { |
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return self.Kd(); |
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} |
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static void setKp(ContactTwoFramePositions& self, |
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const ::Eigen::VectorXd Kp) { |
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return self.Kp(Kp); |
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} |
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static void setKd(ContactTwoFramePositions& self, |
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const ::Eigen::VectorXd Kd) { |
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return self.Kd(Kd); |
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} |
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static bool setContactTwoFramePositionss( |
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ContactTwoFramePositions& self, |
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const ::Eigen::MatrixXd ContactTwoFramePositionss) { |
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return self.setContactTwoFramePositionss(ContactTwoFramePositionss); |
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} |
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static bool setContactNormal(ContactTwoFramePositions& self, |
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const ::Eigen::VectorXd contactNormal) { |
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return self.setContactNormal(contactNormal); |
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} |
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static bool setFrictionCoefficient(ContactTwoFramePositions& self, |
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const double frictionCoefficient) { |
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return self.setFrictionCoefficient(frictionCoefficient); |
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} |
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static bool setMinNormalForce(ContactTwoFramePositions& self, |
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const double minNormalForce) { |
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return self.setMinNormalForce(minNormalForce); |
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} |
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static bool setMaxNormalForce(ContactTwoFramePositions& self, |
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const double maxNormalForce) { |
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return self.setMaxNormalForce(maxNormalForce); |
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} |
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static void setForceReference(ContactTwoFramePositions& self, |
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const ::Eigen::VectorXd f_ref) { |
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self.setForceReference(f_ref); |
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} |
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static void setRegularizationTaskWeightVector(ContactTwoFramePositions& self, |
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const ::Eigen::VectorXd w) { |
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self.setRegularizationTaskWeightVector(w); |
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} |
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static double getNormalForce(ContactTwoFramePositions& self, |
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Eigen::VectorXd f) { |
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return self.getNormalForce(f); |
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} |
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static void expose(const std::string& class_name) { |
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✓✗ | 7 |
std::string doc = "ContactTwoFramePositions info."; |
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✓✗✓✗ |
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bp::class_<ContactTwoFramePositions>(class_name.c_str(), doc.c_str(), |
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bp::no_init) |
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.def(ContactTwoFramePositionsPythonVisitor<ContactTwoFramePositions>()); |
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} |
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}; |
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} // namespace python |
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} // namespace tsid |
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#endif // ifndef __tsid_python_contact_two_frame_positions_hpp__ |
| Generated by: GCOVR (Version 4.2) |