task-actuation-equality.hpp

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/*
 * Author: Ram Charan Teja Thota
 * Date: August 1, 2024
 *
 * Description:
 * this file contain boost python binding for task acutation equality
 */
//
// 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_equality_hpp__
#define __tsid_python_task_actuation_equality_hpp__

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

#include "tsid/math/constraint-base.hpp"
#include "tsid/math/constraint-equality.hpp"
#include "tsid/robots/robot-wrapper.hpp"
#include "tsid/tasks/task-actuation-equality.hpp"
#include "tsid/trajectories/trajectory-base.hpp"

namespace tsid {

namespace python {
namespace bp = boost::python;

template <typename TaskAucEq>
struct TaskActuationEqualityPythonVisitor
 : public boost::python::def_visitor<
 TaskActuationEqualityPythonVisitor<TaskAucEq>> {
 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", &TaskAucEq::dim, "return dimension size")

 .def("compute", &TaskActuationEqualityPythonVisitor::compute,
 bp::args("t", "q", "v", "data"))

 .def("getConstraint",
 &TaskActuationEqualityPythonVisitor::getConstraint)

 .add_property("mask",
 bp::make_function(
 &TaskActuationEqualityPythonVisitor::getmask,
 bp::return_value_policy<bp::copy_const_reference>()),
 "Return mask")

 .def("setMask", &TaskActuationEqualityPythonVisitor::setmask,
 bp::arg("mask"))

 .def("setReference", &TaskActuationEqualityPythonVisitor::setReference,
 bp::arg("ref"))
 .def("getReference", &TaskActuationEqualityPythonVisitor::getReference,
 bp::return_value_policy<bp::copy_const_reference>())

 .def("setWeightVector",
 &TaskActuationEqualityPythonVisitor::setWeightVector,
 bp::arg("weights"))
 .def("getWeightVector",
 &TaskActuationEqualityPythonVisitor::getWeightVector,
 bp::return_value_policy<bp::copy_const_reference>());
 }

 static std::string name(TaskAucEq& self) {
 std::string name = self.name();
 return name;
 }

 static math::ConstraintEquality compute(TaskAucEq& self, const double t,
 const Eigen::VectorXd& q,
 const Eigen::VectorXd& v,
 pinocchio::Data& data) {
 self.compute(t, q, v, data);
 math::ConstraintEquality cons(self.getConstraint().name(),
 self.getConstraint().matrix(),
 self.getConstraint().vector());
 return cons;
 }

 static math::ConstraintEquality getConstraint(const TaskAucEq& self) {
 math::ConstraintEquality cons(self.getConstraint().name(),
 self.getConstraint().matrix(),
 self.getConstraint().vector());
 return cons;
 }

 static void setReference(TaskAucEq& self, const Eigen::VectorXd& ref) {
 self.setReference(ref);
 }

 static const Eigen::VectorXd& getReference(const TaskAucEq& self) {
 return self.getReference();
 }

 // getter and setter of weight
 static void setWeightVector(TaskAucEq& self, const Eigen::VectorXd& weights) {
 self.setWeightVector(weights);
 }

 static const Eigen::VectorXd& getWeightVector(const TaskAucEq& self) {
 return self.getWeightVector();
 }

 // getter and setter of mask
 static const Eigen::VectorXd& getmask(const TaskAucEq& self) {
 return self.mask();
 }

 static void setmask(TaskAucEq& self, const Eigen::VectorXd mask) {
 return self.mask(mask);
 }

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

 bp::register_ptr_to_python<boost::shared_ptr<math::ConstraintBase>>();
 }
};

} // namespace python
} // namespace tsid

#endif // ifndef __tsid_python_task_actuation_equality_hpp__