baumgarte-corrector-parameters.hpp

//
// Copyright (c) 2025 INRIA
//

#pragma once

#include <eigenpy/copyable.hpp>

#include "pinocchio/constraints.hpp"

#include "pinocchio/bindings/python/utils/cast.hpp"
#include "pinocchio/bindings/python/utils/comparable.hpp"

namespace pinocchio
{
 namespace python
 {
 namespace bp = boost::python;

 template<typename BaumgarteCorrectorParameters>
 struct BaumgarteCorrectorParametersPythonVisitor
 : public boost::python::def_visitor<
 BaumgarteCorrectorParametersPythonVisitor<BaumgarteCorrectorParameters>>
 {
 typedef typename BaumgarteCorrectorParameters::Scalar Scalar;
 typedef BaumgarteCorrectorParameters Self;

 public:
 template<class PyClass>
 void visit(PyClass & cl) const
 {
 cl.def(bp::init<Scalar, Scalar>(bp::args("self", "Kp", "Kd"), "Default constructor."))
 .def_readwrite("Kp", &Self::Kp, "Proportional corrector value.")
 .def_readwrite("Kd", &Self::Kd, "Damping corrector value.")
 .def(ComparableVisitor<Self, pinocchio::is_floating_point<Scalar>::value>());
 }

 static void expose()
 {
 if (eigenpy::check_registration<BaumgarteCorrectorParameters>())
 return;
 bp::class_<BaumgarteCorrectorParameters>(
 "BaumgarteCorrectorParameters", "Parameters of the Baumgarte Corrector.", bp::no_init)
 .def(BaumgarteCorrectorParametersPythonVisitor());
 }
 };

 } // namespace python
} // namespace pinocchio