constraint-data-base.hpp

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

#pragma once

#include <boost/python.hpp>
#include <eigenpy/exception.hpp>
#include <eigenpy/eigen-to-python.hpp>

#include "pinocchio/constraints.hpp"
#include "pinocchio/bindings/python/fwd.hpp"

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

 template<class ConstraintDataDerived>
 struct ConstraintDataBasePythonVisitor
 : public bp::def_visitor<ConstraintDataBasePythonVisitor<ConstraintDataDerived>>
 {
 typedef ConstraintDataDerived Self;

 public:
 template<class PyClass>
 void visit(PyClass & cl) const
 {
 cl.def("classname", &Self::classname)
 .staticmethod("classname")
 .def("shortname", &Self::shortname, "Short name of the class.")
#ifndef PINOCCHIO_PYTHON_SKIP_COMPARISON_OPERATIONS
 .def(bp::self == bp::self)
 .def(bp::self != bp::self)
#endif
 ;
 }
 };
 } // namespace python
} // namespace pinocchio