task-joint-posVelAcc-bounds.hpp

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//
// Copyright (c) 2022 INRIA
//
// 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_joint_posVelAcc_bounds_hpp__
#define __tsid_python_task_joint_posVelAcc_bounds_hpp__

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

#include "tsid/tasks/task-joint-posVelAcc-bounds.hpp"
#include "tsid/robots/robot-wrapper.hpp"
#include "tsid/math/constraint-bound.hpp"
#include "tsid/math/constraint-base.hpp"

namespace tsid {
namespace python {
namespace bp = boost::python;
typedef math::ConstRefVector ConstRefVector;

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

 void visit(PyClass& cl) const {
 cl.def(bp::init<std::string, robots::RobotWrapper&, double,
 bp::optional<bool>>(
 (bp::arg("name"), bp::arg("robot"), bp::arg("Time step"),
 bp::arg("verbose")),
 "Default Constructor"))
 .add_property("dim", &Task::dim, "return dimension size")
 .def("setTimeStep", &TaskJointPosVelAccBoundsPythonVisitor::setTimeStep,
 bp::args("dt"))
 .def("setPositionBounds",
 &TaskJointPosVelAccBoundsPythonVisitor::setPositionBounds,
 bp::args("lower", "upper"))
 .def("setVelocityBounds",
 &TaskJointPosVelAccBoundsPythonVisitor::setVelocityBounds,
 bp::args("upper"))
 .def("setAccelerationBounds",
 &TaskJointPosVelAccBoundsPythonVisitor::setAccelerationBounds,
 bp::args("upper"))
 .def("compute", &TaskJointPosVelAccBoundsPythonVisitor::compute,
 bp::args("t", "q", "v", "data"))
 .def("getConstraint",
 &TaskJointPosVelAccBoundsPythonVisitor::getConstraint)
 .def("setVerbose", &TaskJointPosVelAccBoundsPythonVisitor::setVerbose,
 bp::args("verbose"))
 .def("setImposeBounds",
 &TaskJointPosVelAccBoundsPythonVisitor::setImposeBounds,
 bp::args("impose_position_bounds", "impose_velocity_bounds",
 "impose_viability_bounds", "impose_acceleration_bounds"))
 .def("isStateViable",
 &TaskJointPosVelAccBoundsPythonVisitor::isStateViable,
 (bp::arg("q"), bp::arg("dq"), bp::arg("verbose") = true))
 .def("computeAccLimitsFromPosLimits",
 &TaskJointPosVelAccBoundsPythonVisitor::
 computeAccLimitsFromPosLimits,
 (bp::arg("q"), bp::arg("dq"), bp::arg("verbose") = true))
 .def("computeAccLimitsFromViability",
 &TaskJointPosVelAccBoundsPythonVisitor::
 computeAccLimitsFromViability,
 (bp::arg("q"), bp::arg("dq"), bp::arg("verbose") = true))
 .def("computeAccLimits",
 &TaskJointPosVelAccBoundsPythonVisitor::computeAccLimits,
 (bp::arg("q"), bp::arg("dq"), bp::arg("verbose") = true))
 .def("setMask", &TaskJointPosVelAccBoundsPythonVisitor::setMask,
 bp::args("mask"))
 .add_property(
 "getAccelerationBounds",
 bp::make_function(
 &TaskJointPosVelAccBoundsPythonVisitor::getAccelerationBounds,
 bp::return_value_policy<bp::copy_const_reference>()))
 .add_property(
 "getVelocityBounds",
 bp::make_function(
 &TaskJointPosVelAccBoundsPythonVisitor::getVelocityBounds,
 bp::return_value_policy<bp::copy_const_reference>()))
 .add_property(
 "getPositionLowerBounds",
 bp::make_function(
 &TaskJointPosVelAccBoundsPythonVisitor::getPositionLowerBounds,
 bp::return_value_policy<bp::copy_const_reference>()))
 .add_property(
 "getPositionUpperBounds",
 bp::make_function(
 &TaskJointPosVelAccBoundsPythonVisitor::getPositionUpperBounds,
 bp::return_value_policy<bp::copy_const_reference>()))
 .add_property("name", &TaskJointPosVelAccBoundsPythonVisitor::name);
 }
 static std::string name(Task& self) {
 std::string name = self.name();
 return name;
 }
 static math::ConstraintBound compute(Task& self, const double t,
 const Eigen::VectorXd& q,
 const Eigen::VectorXd& v,
 pinocchio::Data& data) {
 self.compute(t, q, v, data);
 math::ConstraintBound cons(self.getConstraint().name(),
 self.getConstraint().lowerBound(),
 self.getConstraint().upperBound());
 return cons;
 }
 static math::ConstraintBound getConstraint(const Task& self) {
 math::ConstraintBound cons(self.getConstraint().name(),
 self.getConstraint().lowerBound(),
 self.getConstraint().upperBound());
 return cons;
 }
 static const Eigen::VectorXd& getAccelerationBounds(const Task& self) {
 return self.getAccelerationBounds();
 }
 static const Eigen::VectorXd& getVelocityBounds(const Task& self) {
 return self.getVelocityBounds();
 }
 static const Eigen::VectorXd& getPositionLowerBounds(const Task& self) {
 return self.getPositionLowerBounds();
 }
 static const Eigen::VectorXd& getPositionUpperBounds(const Task& self) {
 return self.getPositionUpperBounds();
 }
 static void setTimeStep(Task& self, const double dt) {
 return self.setTimeStep(dt);
 }
 static void setPositionBounds(Task& self, const Eigen::VectorXd lower,
 const Eigen::VectorXd upper) {
 return self.setPositionBounds(lower, upper);
 }
 static void setVelocityBounds(Task& self, const Eigen::VectorXd upper) {
 return self.setVelocityBounds(upper);
 }
 static void setAccelerationBounds(Task& self, const Eigen::VectorXd upper) {
 return self.setAccelerationBounds(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(TaskJointPosVelAccBoundsPythonVisitor<Task>());
 }
 static void setVerbose(Task& self, bool verbose) {
 return self.setVerbose(verbose);
 }
 static void setImposeBounds(Task& self, bool impose_position_bounds,
 bool impose_velocity_bounds,
 bool impose_viability_bounds,
 bool impose_acceleration_bounds) {
 return self.setImposeBounds(impose_position_bounds, impose_velocity_bounds,
 impose_viability_bounds,
 impose_acceleration_bounds);
 }

 static void isStateViable(Task& self, ConstRefVector q, ConstRefVector dq,
 bool verbose = true) {
 return self.isStateViable(q, dq, verbose);
 }
 static void computeAccLimitsFromPosLimits(Task& self, ConstRefVector q,
 ConstRefVector dq,
 bool verbose = true) {
 return self.computeAccLimitsFromPosLimits(q, dq, verbose);
 }
 static void computeAccLimitsFromViability(Task& self, ConstRefVector q,
 ConstRefVector dq,
 bool verbose = true) {
 return self.computeAccLimitsFromViability(q, dq, verbose);
 }
 static void computeAccLimits(Task& self, ConstRefVector q, ConstRefVector dq,
 bool verbose = true) {
 return self.computeAccLimits(q, dq, verbose);
 }
 static void setMask(Task& self, math::ConstRefVector mask) {
 return self.setMask(mask);
 }
};
} // namespace python
} // namespace tsid

#endif // ifndef __tsid_python_task_actuation_bounds_hpp__