constraints-datas.hpp

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

#pragma once

#include "pinocchio/constraints.hpp"
#include "pinocchio/bindings/python/fwd.hpp"
#include "pinocchio/bindings/python/utils/printable.hpp"
#include "pinocchio/bindings/python/algorithm/constraints/constraint-data-inheritance.hpp"

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

 // generic expose_constraint_data : do nothing special
 template<class T>
 inline bp::class_<T> & expose_constraint_data(bp::class_<T> & cl)
 {
 return cl;
 }

 // specialization for ConstraintDatas
 template<>
 bp::class_<context::JointFrictionConstraintData> &
 expose_constraint_data(bp::class_<context::JointFrictionConstraintData> & cl)
 {
 typedef context::JointFrictionConstraintData Self;

 return cl
 .def(
 bp::init<const typename context::JointFrictionConstraintData::ConstraintModel &>(
 bp::args("self", "constraint_model"), "From model constructor."))
 .def_readwrite("friction_impulse_lower_limit", &Self::friction_impulse_lower_limit)
 .def_readwrite("friction_impulse_upper_limit", &Self::friction_impulse_upper_limit);
 }

 template<>
 bp::class_<context::JointLimitConstraintData> &
 expose_constraint_data(bp::class_<context::JointLimitConstraintData> & cl)
 {
 typedef context::JointLimitConstraintData Self;
 return cl
 .def(
 bp::init<const typename Self::ConstraintModel &>(
 bp::args("self", "constraint_model"), "From model constructor."))
 .PINOCCHIO_ADD_PROPERTY(Self, rowise_tangent_map, "Rowise tangent map.")
 .add_property(
 "constraint_residual",
 bp::make_function(
 +[](const context::JointLimitConstraintData & self)
 -> Eigen::Ref<context::JointLimitConstraintData::VectorXs> {
 return Eigen::Ref<context::JointLimitConstraintData::VectorXs>(
 self.constraint_residual);
 },
 bp::with_custodian_and_ward_postcall<0, 1>()),
 "");
 // CompactTangentMap and constraint_residual_storage are not exposed
 }
 } // namespace python
} // namespace pinocchio