set-trivial-cones.hpp

//
// Copyright (c) 2022-2025 INRIA
//

#pragma once

#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 TrivialCone>
 struct TrivialConePythonVisitor
 : public boost::python::def_visitor<TrivialConePythonVisitor<TrivialCone>>
 {

 static void expose(const std::string & class_name, const std::string & doc_string = "")
 {
 bp::class_<TrivialCone>(class_name.c_str(), doc_string.c_str(), bp::no_init)
 .def(SetPythonVisitor<TrivialCone, context::VectorXs>())
 .def(ConeSetPythonVisitor<TrivialCone>())
 .def(::eigenpy::CopyableVisitor<TrivialCone>());
 }
 };

 } // namespace python
} // namespace pinocchio