set-base.hpp

//
// Copyright (c) 2024-2025 INRIA
//

#pragma once

#include <eigenpy/eigenpy.hpp>
#include <eigenpy/copyable.hpp>

#include "pinocchio/constraints.hpp"

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

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

 template<typename Set, typename VectorLike>
 struct SetPythonVisitor : public boost::python::def_visitor<SetPythonVisitor<Set, VectorLike>>
 {
 typedef typename Set::Scalar Scalar;
 template<class PyClass>
 void visit(PyClass & cl) const
 {
 cl.def(
 "isInside",
 +[](const Set & self, const Eigen::MatrixBase<VectorLike> & f) -> bool {
 return self.template isInside<VectorLike>(f, Scalar(0));
 },
 bp::args("self", "f"), "Resize the constraint given active limits.")
 .def(
 "project",
 +[](const Set & self, const Eigen::MatrixBase<VectorLike> & f) -> auto {
 return self.template project<VectorLike>(f);
 },
 bp::args("self", "f"), "Normal projection of a vector f onto the cone.")
#ifndef PINOCCHIO_PYTHON_SKIP_COMPARISON_OPERATIONS
 .def(bp::self == bp::self)
 .def(bp::self != bp::self)
#endif
 ;
 }
 };

 template<typename ConeSet>
 struct ConeSetPythonVisitor : public boost::python::def_visitor<ConeSetPythonVisitor<ConeSet>>
 {
 template<class PyClass>
 void visit(PyClass & cl) const
 {
 cl.def("dual", &ConeSet::dual, bp::arg("self"), "Returns the dual cone associated to this");
 }
 };
 } // namespace python
} // namespace pinocchio