task-cop-equality.hpp

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//
// Copyright (c) 2021 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_cop_hpp__
#define __tsid_python_task_cop_hpp__

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

#include "tsid/tasks/task-cop-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 TaskCOP>
struct TaskCOPEqualityPythonVisitor
 : public boost::python::def_visitor<
 TaskCOPEqualityPythonVisitor<TaskCOP> > {
 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", &TaskCOP::dim, "return dimension size")
 .def("setReference", &TaskCOPEqualityPythonVisitor::setReference,
 bp::arg("ref"))
 .def("setContactNormal",
 &TaskCOPEqualityPythonVisitor::setContactNormal, bp::arg("normal"))
 .def("compute", &TaskCOPEqualityPythonVisitor::compute,
 bp::args("t", "q", "v", "data"))
 .def("getConstraint", &TaskCOPEqualityPythonVisitor::getConstraint)
 .add_property("name", &TaskCOPEqualityPythonVisitor::name);
 }
 static std::string name(TaskCOP& self) {
 std::string name = self.name();
 return name;
 }
 static math::ConstraintEquality compute(TaskCOP& 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 TaskCOP& self) {
 math::ConstraintEquality cons(self.getConstraint().name(),
 self.getConstraint().matrix(),
 self.getConstraint().vector());
 return cons;
 }
 static void setReference(TaskCOP& self, const Eigen::Vector3d& ref) {
 self.setReference(ref);
 }
 static void setContactNormal(TaskCOP& self, const Eigen::Vector3d& n) {
 self.setContactNormal(n);
 }
 static void expose(const std::string& class_name) {
 std::string doc = "TaskCOPEqualityPythonVisitor info.";
 bp::class_<TaskCOP>(class_name.c_str(), doc.c_str(), bp::no_init)
 .def(TaskCOPEqualityPythonVisitor<TaskCOP>());
 }
};
} // namespace python
} // namespace tsid

#endif // ifndef __tsid_python_task_cop_hpp__