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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_task_frames_hpp__ |
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#define __tsid_python_task_frames_hpp__ |
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#include "tsid/bindings/python/fwd.hpp" |
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#include "tsid/tasks/task-two-frames-equality.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 TaskFrames> |
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struct TaskTwoFramesEqualityPythonVisitor |
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: public boost::python::def_visitor< |
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TaskTwoFramesEqualityPythonVisitor<TaskFrames> > { |
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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&, std::string, |
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std::string>((bp::arg("name"), bp::arg("robot"), |
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bp::arg("framename1"), bp::arg("framename2")), |
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"Default Constructor")) |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ |
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.add_property("dim", &TaskFrames::dim, "return dimension size") |
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.add_property( |
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"getDesiredAcceleration", |
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bp::make_function( |
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&TaskTwoFramesEqualityPythonVisitor::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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.def("getAcceleration", |
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&TaskTwoFramesEqualityPythonVisitor::getAcceleration, |
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bp::arg("dv")) |
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✓✗✓✗ |
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.add_property("position_error", |
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bp::make_function( |
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&TaskTwoFramesEqualityPythonVisitor::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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&TaskTwoFramesEqualityPythonVisitor::velocity_error, |
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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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&TaskTwoFramesEqualityPythonVisitor::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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&TaskTwoFramesEqualityPythonVisitor::Kd, |
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bp::return_value_policy<bp::copy_const_reference>())) |
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✓✗✓✗ |
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.def("setKp", &TaskTwoFramesEqualityPythonVisitor::setKp, bp::arg("Kp")) |
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✓✗✓✗ |
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.def("setKd", &TaskTwoFramesEqualityPythonVisitor::setKd, bp::arg("Kd")) |
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✓✗✓✗ |
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.add_property("mask", |
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bp::make_function( |
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&TaskTwoFramesEqualityPythonVisitor::getMask, |
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bp::return_value_policy<bp::copy_const_reference>()), |
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"Return mask") |
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✓✗✓✗ |
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.def("setMask", &TaskTwoFramesEqualityPythonVisitor::setMask, |
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bp::arg("mask")) |
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✓✗✓✗ |
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.def("compute", &TaskTwoFramesEqualityPythonVisitor::compute, |
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bp::args("t", "q", "v", "data")) |
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✓✗✓✗ |
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.def("getConstraint", |
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&TaskTwoFramesEqualityPythonVisitor::getConstraint) |
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✓✗ | 7 |
.add_property("frame_id1", &TaskFrames::frame_id1, "frame id 1 return") |
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.add_property("frame_id2", &TaskFrames::frame_id2, "frame id 2 return") |
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✓✗✓✗ ✓✗ |
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.add_property("name", &TaskTwoFramesEqualityPythonVisitor::name); |
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} |
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static std::string name(TaskFrames& 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(TaskFrames& 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 TaskFrames& 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 const Eigen::VectorXd& getDesiredAcceleration(const TaskFrames& self) { |
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return self.getDesiredAcceleration(); |
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} |
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static Eigen::VectorXd getAcceleration(TaskFrames& 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 TaskFrames& self) { |
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return self.position_error(); |
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} |
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static const Eigen::VectorXd& velocity_error(const TaskFrames& self) { |
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return self.velocity_error(); |
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} |
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static const Eigen::VectorXd& Kp(TaskFrames& self) { return self.Kp(); } |
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static const Eigen::VectorXd& Kd(TaskFrames& self) { return self.Kd(); } |
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static void setKp(TaskFrames& self, const ::Eigen::VectorXd Kp) { |
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return self.Kp(Kp); |
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} |
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static void setKd(TaskFrames& self, const ::Eigen::VectorXd Kv) { |
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return self.Kd(Kv); |
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} |
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static void getMask(TaskFrames& self) { self.getMask(); } |
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static void setMask(TaskFrames& self, const ::Eigen::VectorXd mask) { |
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self.setMask(mask); |
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} |
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static Eigen::VectorXd frame_id1(TaskFrames& self) { |
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return self.frame_id1(); |
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} |
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static Eigen::VectorXd frame_id2(TaskFrames& self) { |
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return self.frame_id2(); |
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} |
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static void expose(const std::string& class_name) { |
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✓✗ | 7 |
std::string doc = "TaskFrames info."; |
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✓✗✓✗ |
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bp::class_<TaskFrames>(class_name.c_str(), doc.c_str(), bp::no_init) |
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.def(TaskTwoFramesEqualityPythonVisitor<TaskFrames>()); |
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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_frames_hpp__ |
| Generated by: GCOVR (Version 4.2) |