joint-model.hpp

//
// Copyright (c) 2015-2022 CNRS INRIA
//

#pragma once

#include "pinocchio/multibody/joint.hpp"
#include "pinocchio/bindings/python/multibody/joint/joint-derived.hpp"
#include "pinocchio/bindings/python/multibody/joint/joints-liegroup.hpp"
#include "pinocchio/bindings/python/utils/printable.hpp"

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

 template<typename JointModel>
 struct ExtractJointModelVariantTypeVisitor
 {
 typedef typename JointModel::JointCollection JointCollection;
 typedef bp::object result_type;

 template<typename JointModelDerived>
 result_type operator()(const JointModelBase<JointModelDerived> & jmodel) const
 {
 bp::object obj(boost::ref(jmodel.derived()));
 return obj;
 }

 static result_type extract(const JointModel & jmodel)
 {
 return boost::apply_visitor(ExtractJointModelVariantTypeVisitor(), jmodel);
 }
 };

 template<typename JointModel>
 struct JointModelPythonVisitor
 {

 static void expose()
 {
 bp::class_<JointModel>("JointModel", "Generic Joint Model", bp::no_init)
 .def(bp::init<>(bp::arg("self"), "Default constructor"))
 .def(bp::init<const JointModel &>(bp::args("self", "other"), "Copy constructor"))
 .def(JointModelBasePythonVisitor<JointModel>())
 .def(PrintableVisitor<JointModel>())
 .def(JointModelLieGroupPythonVisitor<JointModel>())
 .def(
 "extract", ExtractJointModelVariantTypeVisitor<JointModel>::extract, bp::arg("self"),
 "Returns a reference of the internal joint managed by the JointModel",
 bp::with_custodian_and_ward_postcall<0, 1>());
 }
 };

 } // namespace python
} // namespace pinocchio