measured-6d-wrench.hpp

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//
// Copyright (c) 2022 CNRS INRIA LORIA
//
// 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_measured_6d_wrench_hpp__
#define __tsid_python_measured_6d_wrench_hpp__

#include "tsid/bindings/python/fwd.hpp"
#include "tsid/contacts/measured-6d-wrench.hpp"
#include "tsid/robots/robot-wrapper.hpp"
#include "pinocchio/multibody/data.hpp"

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

template <typename Measured6dWrench>
struct Measured6dWrenchPythonVisitor
 : public boost::python::def_visitor<
 Measured6dWrenchPythonVisitor<Measured6dWrench> > {
 template <class PyClass>
 void visit(PyClass& cl) const {
 cl
 // Expose the constructor:
 .def(bp::init<std::string, typename Measured6dWrench::RobotWrapper&,
 std::string>(
 (bp::arg("name"), bp::arg("robot"), bp::arg("frameName")),
 "Constructor for Measured6dwrench"))

 // Expose the name getter and setter:
 .add_property("name", &Measured6dWrenchPythonVisitor::getName,
 &Measured6dWrenchPythonVisitor::setName,
 "Get or set the name of the measured-6Dwrench instance")

 // Expose computeJointTorques(Data &data)
 .def("computeJointTorques",
 &Measured6dWrenchPythonVisitor::computeJointTorques,
 bp::args("data"),
 "Compute the joint torques from the measured contact force")

 // Expose setMeasuredContactForce(const Vector6 &fext)
 .def("setMeasuredContactForce",
 &Measured6dWrenchPythonVisitor::setMeasuredContactForce,
 bp::args("fext"), "Set the measured contact force")

 // Expose getMeasuredContactForce() as a read-only property.
 .add_property(
 "measuredContactForce",
 bp::make_function(
 &Measured6dWrenchPythonVisitor::getMeasuredContactForce),
 "Get the measured contact force")

 // Expose useLocalFrame(bool local_frame)
 .def("useLocalFrame", &Measured6dWrenchPythonVisitor::useLocalFrame,
 bp::args("local_frame"),
 "Specify whether to use the local frame for external force and "
 "jacobian");
 }

 // Wrapper for name() getter.
 static std::string getName(Measured6dWrench& self) { return self.name(); }

 // Wrapper for name(const std::string &) setter.
 static void setName(Measured6dWrench& self, const std::string& name) {
 self.name(name);
 }

 // Wrapper for computeJointTorques(Data &data) returning by value.
 static typename Measured6dWrench::Vector computeJointTorques(
 Measured6dWrench& self, pinocchio::Data& data) {
 return self.computeJointTorques(data);
 }

 // Wrapper for setMeasuredContactForce(const Vector6 &fext)
 static void setMeasuredContactForce(
 Measured6dWrench& self, const typename Measured6dWrench::Vector6& fext) {
 self.setMeasuredContactForce(fext);
 }

 // Wrapper for getMeasuredContactForce() returning by value.
 static typename Measured6dWrench::Vector6 getMeasuredContactForce(
 Measured6dWrench& self) {
 return self.getMeasuredContactForce();
 }

 // Wrapper for useLocalFrame(bool local_frame)
 static void useLocalFrame(Measured6dWrench& self, bool local_frame) {
 self.useLocalFrame(local_frame);
 }

 // Function to expose the binding.
 static void expose(const std::string& class_name) {
 std::string doc = "Bindings for tsid::contacts::Measured6dwrench";
 bp::class_<Measured6dWrench>(class_name.c_str(), doc.c_str(), bp::no_init)
 .def(Measured6dWrenchPythonVisitor<Measured6dWrench>());
 }
};

} // namespace python
} // namespace tsid

#endif // __tsid_python_measured_6d_wrench_hpp__