set-box-set.hpp

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

#pragma once

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

#include "pinocchio/constraints.hpp"

#include "pinocchio/bindings/python/algorithm/constraints/set-base.hpp"
#include "pinocchio/bindings/python/utils/cast.hpp"

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

 template<typename BoxSet>
 struct BoxSetPythonVisitor : public boost::python::def_visitor<BoxSetPythonVisitor<BoxSet>>
 {
 typedef typename BoxSet::Scalar Scalar;
 typedef typename BoxSet::Vector Vector;
 typedef BoxSet Self;

 template<class PyClass>
 void visit(PyClass & cl) const
 {
 cl.def(bp::init<const Self &>(bp::args("self", "other"), "Copy constructor."))
 .def(
 bp::init<context::VectorXs, context::VectorXs>(
 bp::args("self", "lb", "ub"), "Constructor from lower and upper bounds."))
 .add_property(
 "lb", bp::make_function(+[](Self & self) { return self.lb; }),
 "Returns a copy of the vector of lower bounds")
 .add_property(
 "ub", bp::make_function(+[](Self & self) { return self.ub; }),
 "Returns a copy of the vector of upper bounds");
 }

 static void expose()
 {
 bp::class_<BoxSet>(
 "BoxSet", "Box set defined by a lower and an upper bounds [lb;ub].\n", bp::no_init)
 .def(SetPythonVisitor<BoxSet, context::VectorXs>())
 .def(BoxSetPythonVisitor())
 // .def(CastVisitor<BoxSet>())
 // .def(ExposeConstructorByCastVisitor<BoxSet,::pinocchio::BoxSet>())
 .def(::eigenpy::CopyableVisitor<BoxSet>());
 }
 };

 } // namespace python
} // namespace pinocchio