task-contact-force-equality.hpp

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//
// Copyright (c) 2021 LAAS-CNRS, University of Trento
//
// 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_contact_force_equality_hpp__
#define __tsid_python_task_contact_force_equality_hpp__

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

#include "tsid/tasks/task-contact-force-equality.hpp"
#include "tsid/robots/robot-wrapper.hpp"
#include "tsid/trajectories/trajectory-base.hpp"
#include "tsid/math/constraint-equality.hpp"
#include "tsid/math/constraint-base.hpp"
namespace tsid {
namespace python {
namespace bp = boost::python;

template <typename TaskContactForceEquality>
struct TaskContactForceEqualityPythonVisitor
 : public boost::python::def_visitor<
 TaskContactForceEqualityPythonVisitor<TaskContactForceEquality> > {
 template <class PyClass>

 void visit(PyClass& cl) const {
 cl.def(bp::init<std::string, robots::RobotWrapper&, double,
 contacts::ContactBase&>((bp::arg("name"), bp::arg("robot"),
 bp::arg("dt"), bp::arg("contact")),
 "Default Constructor"))
 .add_property("dim", &TaskContactForceEquality::dim,
 "return dimension size")
 .def("setReference",
 &TaskContactForceEqualityPythonVisitor::setReference,
 bp::arg("ref"))
 .def("setExternalForce",
 &TaskContactForceEqualityPythonVisitor::setExternalForce,
 bp::arg("f_ext"))
 .def("compute", &TaskContactForceEqualityPythonVisitor::compute,
 bp::args("t", "q", "v", "data"))
 .def("getConstraint",
 &TaskContactForceEqualityPythonVisitor::getConstraint)
 .add_property("name", &TaskContactForceEqualityPythonVisitor::name)
 .add_property("Kp",
 bp::make_function(
 &TaskContactForceEqualityPythonVisitor::Kp,
 bp::return_value_policy<bp::copy_const_reference>()))
 .add_property("Kd",
 bp::make_function(
 &TaskContactForceEqualityPythonVisitor::Kd,
 bp::return_value_policy<bp::copy_const_reference>()))
 .add_property("Ki",
 bp::make_function(
 &TaskContactForceEqualityPythonVisitor::Kd,
 bp::return_value_policy<bp::copy_const_reference>()))
 .add_property("getLeakRate",
 bp::make_function(
 &TaskContactForceEqualityPythonVisitor::getLeakRate,
 bp::return_value_policy<bp::copy_const_reference>()))
 .def("setKp", &TaskContactForceEqualityPythonVisitor::setKp,
 bp::arg("Kp"))
 .def("setKd", &TaskContactForceEqualityPythonVisitor::setKd,
 bp::arg("Kd"))
 .def("setKi", &TaskContactForceEqualityPythonVisitor::setKi,
 bp::arg("Ki"))
 .def("setLeakRate", &TaskContactForceEqualityPythonVisitor::setLeakRate,
 bp::arg("leak"));
 }
 static std::string name(TaskContactForceEquality& self) {
 std::string name = self.name();
 return name;
 }
 static math::ConstraintEquality compute(TaskContactForceEquality& 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 TaskContactForceEquality& self) {
 math::ConstraintEquality cons(self.getConstraint().name(),
 self.getConstraint().matrix(),
 self.getConstraint().vector());
 return cons;
 }
 static void setReference(TaskContactForceEquality& self,
 trajectories::TrajectorySample& ref) {
 self.setReference(ref);
 }
 static void setExternalForce(TaskContactForceEquality& self,
 trajectories::TrajectorySample& f_ext) {
 self.setExternalForce(f_ext);
 }
 static const Eigen::VectorXd& Kp(TaskContactForceEquality& self) {
 return self.Kp();
 }
 static const Eigen::VectorXd& Kd(TaskContactForceEquality& self) {
 return self.Kd();
 }
 static const Eigen::VectorXd& Ki(TaskContactForceEquality& self) {
 return self.Ki();
 }
 static const double& getLeakRate(TaskContactForceEquality& self) {
 return self.getLeakRate();
 }
 static void setKp(TaskContactForceEquality& self,
 const ::Eigen::VectorXd Kp) {
 return self.Kp(Kp);
 }
 static void setKd(TaskContactForceEquality& self,
 const ::Eigen::VectorXd Kd) {
 return self.Kd(Kd);
 }
 static void setKi(TaskContactForceEquality& self,
 const ::Eigen::VectorXd Ki) {
 return self.Ki(Ki);
 }
 static void setLeakRate(TaskContactForceEquality& self, const double leak) {
 return self.setLeakRate(leak);
 }
 static void expose(const std::string& class_name) {
 std::string doc = "TaskContactForceEqualityPythonVisitor info.";
 bp::class_<TaskContactForceEquality>(class_name.c_str(), doc.c_str(),
 bp::no_init)
 .def(TaskContactForceEqualityPythonVisitor<TaskContactForceEquality>());
 }
};
} // namespace python
} // namespace tsid

#endif // ifndef __tsid_python_task_contact_force_equality_hpp__