constraint-equality.hpp

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//
// Copyright (c) 2018 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//

#ifndef __tsid_python_constriant_equality_hpp__
#define __tsid_python_constriant_equality_hpp__

#include "tsid/bindings/python/fwd.hpp"

#include "tsid/math/constraint-equality.hpp"

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

template <typename ConstraintEquality>
struct ConstraintEqPythonVisitor
 : public boost::python::def_visitor<
 ConstraintEqPythonVisitor<ConstraintEquality> > {
 template <class PyClass>

 void visit(PyClass& cl) const {
 cl.def(bp::init<std::string>((bp::arg("name")),
 "Default constructor with name."))
 .def(bp::init<std::string, unsigned int, unsigned int>(
 (bp::arg("name"), bp::arg("row"), bp::arg("col")),
 "Default constructor with name and size."))
 .def(bp::init<std::string, Eigen::MatrixXd, Eigen::VectorXd>(
 (bp::arg("name"), bp::arg("A"), bp::arg("b")),
 "Default constructor with name and constraint."))

 .add_property("rows", &ConstraintEquality::rows)
 .add_property("cols", &ConstraintEquality::cols)
 .def("resize", &ConstraintEquality::resize,
 (bp::arg("r"), bp::arg("c")), "Resize constraint size.")

 .add_property("isEquality", &ConstraintEquality::isEquality)
 .add_property("isInequality", &ConstraintEquality::isInequality)
 .add_property("isBound", &ConstraintEquality::isBound)

 .add_property("matrix", &ConstraintEqPythonVisitor::matrix)
 .add_property("vector", &ConstraintEqPythonVisitor::vector)
 .add_property("lowerBound", &ConstraintEqPythonVisitor::lowerBound)
 .add_property("upperBound", &ConstraintEqPythonVisitor::upperBound)

 .def("setMatrix",
 (bool (ConstraintEquality::*)(
 const Eigen::Ref<
 const Eigen::MatrixXd>))&ConstraintEquality::setMatrix,
 bp::args("matrix"), "Set Matrix")
 .def("setVector",
 (bool (ConstraintEquality::*)(
 const Eigen::Ref<
 const Eigen::VectorXd>))&ConstraintEquality::setVector,
 bp::args("vector"), "Set Vector")
 .def("setLowerBound",
 (bool (ConstraintEquality::*)(
 const Eigen::Ref<
 const Eigen::VectorXd>))&ConstraintEquality::setLowerBound,
 bp::args("lb"), "Set LowerBound")
 .def("setUpperBound",
 (bool (ConstraintEquality::*)(
 const Eigen::Ref<
 const Eigen::VectorXd>))&ConstraintEquality::setUpperBound,
 bp::args("ub"), "Set UpperBound")

 ;
 }
 static Eigen::MatrixXd matrix(const ConstraintEquality& self) {
 return self.matrix();
 }
 static Eigen::VectorXd vector(const ConstraintEquality& self) {
 return self.vector();
 }
 static Eigen::VectorXd lowerBound(const ConstraintEquality& self) {
 return self.lowerBound();
 }
 static Eigen::VectorXd upperBound(const ConstraintEquality& self) {
 return self.upperBound();
 }

 static void expose(const std::string& class_name) {
 std::string doc = "Constraint Equality info.";
 bp::class_<ConstraintEquality>(class_name.c_str(), doc.c_str(), bp::no_init)
 .def(ConstraintEqPythonVisitor<ConstraintEquality>());

 eigenpy::enableEigenPySpecific<Eigen::MatrixXd>();
 }
};
} // namespace python
} // namespace tsid

#endif // ifndef __tsid_python_constriant_equality_hpp__