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// Copyright (c) 2018 CNRS |
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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_task_joint_hpp__ |
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#define __tsid_python_task_joint_hpp__ |
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#include "tsid/bindings/python/fwd.hpp" |
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#include "tsid/tasks/task-joint-posture.hpp" |
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#include "tsid/robots/robot-wrapper.hpp" |
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#include "tsid/trajectories/trajectory-base.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 TaskJoint> |
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struct TaskJointPosturePythonVisitor |
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: public boost::python::def_visitor< |
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TaskJointPosturePythonVisitor<TaskJoint> > { |
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template <class PyClass> |
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void visit(PyClass& cl) const { |
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cl.def(bp::init<std::string, robots::RobotWrapper&>( |
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(bp::arg("name"), bp::arg("robot")), "Default Constructor")) |
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✓✗✓✗
✓✗✓✗
|
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.add_property("dim", &TaskJoint::dim, "return dimension size") |
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.def("setReference", &TaskJointPosturePythonVisitor::setReference, |
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bp::arg("ref")) |
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✓✗✓✗
✓✗ |
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.add_property( |
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"getDesiredAcceleration", |
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bp::make_function( |
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&TaskJointPosturePythonVisitor::getDesiredAcceleration, |
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bp::return_value_policy<bp::copy_const_reference>()), |
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"Return Acc_desired") |
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✓✗✓✗
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.add_property("mask", |
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bp::make_function( |
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&TaskJointPosturePythonVisitor::getmask, |
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bp::return_value_policy<bp::copy_const_reference>()), |
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"Return mask") |
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.def("setMask", &TaskJointPosturePythonVisitor::setmask, |
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bp::arg("mask")) |
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.def("getAcceleration", &TaskJointPosturePythonVisitor::getAcceleration, |
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bp::arg("dv")) |
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.add_property("position_error", |
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bp::make_function( |
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&TaskJointPosturePythonVisitor::position_error, |
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bp::return_value_policy<bp::copy_const_reference>())) |
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✓✗✓✗
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.add_property("velocity_error", |
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bp::make_function( |
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&TaskJointPosturePythonVisitor::velocity_error, |
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bp::return_value_policy<bp::copy_const_reference>())) |
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✓✗✓✗
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.add_property("position", |
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bp::make_function( |
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&TaskJointPosturePythonVisitor::position, |
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bp::return_value_policy<bp::copy_const_reference>())) |
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✓✗✓✗
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.add_property("velocity", |
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bp::make_function( |
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&TaskJointPosturePythonVisitor::velocity, |
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bp::return_value_policy<bp::copy_const_reference>())) |
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✓✗✓✗
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.add_property("position_ref", |
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bp::make_function( |
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&TaskJointPosturePythonVisitor::position_ref, |
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bp::return_value_policy<bp::copy_const_reference>())) |
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✓✗✓✗
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.add_property("velocity_ref", |
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bp::make_function( |
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&TaskJointPosturePythonVisitor::velocity_ref, |
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bp::return_value_policy<bp::copy_const_reference>())) |
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✓✗✓✗
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.add_property("Kp", |
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bp::make_function( |
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&TaskJointPosturePythonVisitor::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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&TaskJointPosturePythonVisitor::Kd, |
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bp::return_value_policy<bp::copy_const_reference>())) |
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.def("setKp", &TaskJointPosturePythonVisitor::setKp, bp::arg("Kp")) |
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.def("setKd", &TaskJointPosturePythonVisitor::setKd, bp::arg("Kd")) |
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.def("compute", &TaskJointPosturePythonVisitor::compute, |
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bp::args("t", "q", "v", "data")) |
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.def("getConstraint", &TaskJointPosturePythonVisitor::getConstraint) |
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.add_property("name", &TaskJointPosturePythonVisitor::name); |
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} |
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static std::string name(TaskJoint& 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 compute(TaskJoint& self, const double t, |
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const Eigen::VectorXd& q, |
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const Eigen::VectorXd& v, |
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pinocchio::Data& data) { |
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self.compute(t, q, v, data); |
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math::ConstraintEquality cons(self.getConstraint().name(), |
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self.getConstraint().matrix(), |
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self.getConstraint().vector()); |
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return cons; |
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} |
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static math::ConstraintEquality getConstraint(const TaskJoint& self) { |
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math::ConstraintEquality cons(self.getConstraint().name(), |
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self.getConstraint().matrix(), |
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self.getConstraint().vector()); |
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return cons; |
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} |
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static void setReference(TaskJoint& self, |
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const trajectories::TrajectorySample& ref) { |
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self.setReference(ref); |
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} |
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static const Eigen::VectorXd& getDesiredAcceleration(const TaskJoint& self) { |
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return self.getDesiredAcceleration(); |
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} |
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static const Eigen::VectorXd& getmask(const TaskJoint& self) { |
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return self.getMask(); |
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} |
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static void setmask(TaskJoint& self, const Eigen::VectorXd mask) { |
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return self.setMask(mask); |
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} |
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static Eigen::VectorXd getAcceleration(TaskJoint& self, |
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const Eigen::VectorXd dv) { |
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return self.getAcceleration(dv); |
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} |
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static const Eigen::VectorXd& position_error(const TaskJoint& self) { |
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return self.position_error(); |
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} |
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static const Eigen::VectorXd& velocity_error(const TaskJoint& self) { |
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return self.velocity_error(); |
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} |
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static const Eigen::VectorXd& position(const TaskJoint& self) { |
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return self.position(); |
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} |
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static const Eigen::VectorXd& velocity(const TaskJoint& self) { |
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return self.velocity(); |
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} |
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static const Eigen::VectorXd& position_ref(const TaskJoint& self) { |
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return self.position_ref(); |
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} |
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static const Eigen::VectorXd& velocity_ref(const TaskJoint& self) { |
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return self.velocity_ref(); |
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} |
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static const Eigen::VectorXd& Kp(TaskJoint& self) { return self.Kp(); } |
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static const Eigen::VectorXd& Kd(TaskJoint& self) { return self.Kd(); } |
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static void setKp(TaskJoint& self, const ::Eigen::VectorXd Kp) { |
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✓✗ |
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return self.Kp(Kp); |
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} |
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static void setKd(TaskJoint& self, const ::Eigen::VectorXd Kv) { |
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✓✗ |
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return self.Kd(Kv); |
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} |
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static void expose(const std::string& class_name) { |
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✓✗ |
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std::string doc = "TaskJoint info."; |
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bp::class_<TaskJoint>(class_name.c_str(), doc.c_str(), bp::no_init) |
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.def(TaskJointPosturePythonVisitor<TaskJoint>()); |
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// bp::register_ptr_to_python< boost::shared_ptr<math::ConstraintBase> >(); |
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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_task_joint_hpp__ |