task-actuation-bounds.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_task_actuation_bounds_hpp__
#define __tsid_python_task_actuation_bounds_hpp__

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

#include "tsid/tasks/task-actuation-bounds.hpp"
#include "tsid/robots/robot-wrapper.hpp"
#include "tsid/math/constraint-inequality.hpp"
#include "tsid/math/constraint-base.hpp"

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

template <typename Task>
struct TaskActuationBoundsPythonVisitor
 : public boost::python::def_visitor<
 TaskActuationBoundsPythonVisitor<Task> > {
 template <class PyClass>

 void visit(PyClass& cl) const {
 cl.def(bp::init<std::string, robots::RobotWrapper&>(
 (bp::arg("name"), bp::arg("robot")), "Default Constructor"))
 .add_property("dim", &Task::dim, "return dimension size")
 .add_property("mask",
 bp::make_function(
 &TaskActuationBoundsPythonVisitor::getmask,
 bp::return_value_policy<bp::copy_const_reference>()),
 "Return mask")
 .def("setMask", &TaskActuationBoundsPythonVisitor::setmask,
 bp::arg("mask"))
 .def("setBounds", &TaskActuationBoundsPythonVisitor::setBounds,
 bp::args("lower", "upper"))
 .def("compute", &TaskActuationBoundsPythonVisitor::compute,
 bp::args("t", "q", "v", "data"))
 .def("getConstraint", &TaskActuationBoundsPythonVisitor::getConstraint)
 .add_property("getLowerBounds",
 bp::make_function(
 &TaskActuationBoundsPythonVisitor::getLowerBounds,
 bp::return_value_policy<bp::copy_const_reference>()))
 .add_property("getUpperBounds",
 bp::make_function(
 &TaskActuationBoundsPythonVisitor::getUpperBounds,
 bp::return_value_policy<bp::copy_const_reference>()))
 .add_property("name", &TaskActuationBoundsPythonVisitor::name);
 }
 static std::string name(Task& self) {
 std::string name = self.name();
 return name;
 }
 static math::ConstraintInequality compute(Task& self, const double t,
 const Eigen::VectorXd& q,
 const Eigen::VectorXd& v,
 pinocchio::Data& data) {
 self.compute(t, q, v, data);
 math::ConstraintInequality cons(
 self.getConstraint().name(), self.getConstraint().matrix(),
 self.getConstraint().lowerBound(), self.getConstraint().upperBound());
 return cons;
 }
 static math::ConstraintInequality getConstraint(const Task& self) {
 math::ConstraintInequality cons(
 self.getConstraint().name(), self.getConstraint().matrix(),
 self.getConstraint().lowerBound(), self.getConstraint().upperBound());
 return cons;
 }
 static const Eigen::VectorXd& getmask(const Task& self) {
 return self.mask();
 }
 static void setmask(Task& self, const Eigen::VectorXd mask) {
 return self.mask(mask);
 }
 static const Eigen::VectorXd& getLowerBounds(const Task& self) {
 return self.getLowerBounds();
 }
 static const Eigen::VectorXd& getUpperBounds(const Task& self) {
 return self.getUpperBounds();
 }
 static void setBounds(Task& self, const Eigen::VectorXd lower,
 const Eigen::VectorXd upper) {
 return self.setBounds(lower, upper);
 }
 static void expose(const std::string& class_name) {
 std::string doc = "Task info.";
 bp::class_<Task>(class_name.c_str(), doc.c_str(), bp::no_init)
 .def(TaskActuationBoundsPythonVisitor<Task>());
 }
};
} // namespace python
} // namespace tsid

#endif // ifndef __tsid_python_task_actuation_bounds_hpp__