task-se3-equality.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_se3_hpp__
#define __tsid_python_task_se3_hpp__

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

#include "tsid/tasks/task-se3-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 TaskSE3>
struct TaskSE3EqualityPythonVisitor
 : public boost::python::def_visitor<
 TaskSE3EqualityPythonVisitor<TaskSE3> > {
 template <class PyClass>

 void visit(PyClass& cl) const {
 cl.def(bp::init<std::string, robots::RobotWrapper&, std::string>(
 (bp::arg("name"), bp::arg("robot"), bp::arg("framename")),
 "Default Constructor"))
 .add_property("dim", &TaskSE3::dim, "return dimension size")
 .def("setReference", &TaskSE3EqualityPythonVisitor::setReference,
 bp::arg("ref"))
 .add_property("getDesiredAcceleration",
 bp::make_function(
 &TaskSE3EqualityPythonVisitor::getDesiredAcceleration,
 bp::return_value_policy<bp::copy_const_reference>()),
 "Return Acc_desired")
 .def("getAcceleration", &TaskSE3EqualityPythonVisitor::getAcceleration,
 bp::arg("dv"))
 .add_property("position_error",
 bp::make_function(
 &TaskSE3EqualityPythonVisitor::position_error,
 bp::return_value_policy<bp::copy_const_reference>()))
 .add_property("velocity_error",
 bp::make_function(
 &TaskSE3EqualityPythonVisitor::velocity_error,
 bp::return_value_policy<bp::copy_const_reference>()))
 .add_property("position",
 bp::make_function(
 &TaskSE3EqualityPythonVisitor::position,
 bp::return_value_policy<bp::copy_const_reference>()))
 .add_property("velocity",
 bp::make_function(
 &TaskSE3EqualityPythonVisitor::velocity,
 bp::return_value_policy<bp::copy_const_reference>()))
 .add_property("position_ref",
 bp::make_function(
 &TaskSE3EqualityPythonVisitor::position_ref,
 bp::return_value_policy<bp::copy_const_reference>()))
 .add_property("velocity_ref",
 bp::make_function(
 &TaskSE3EqualityPythonVisitor::velocity_ref,
 bp::return_value_policy<bp::copy_const_reference>()))
 .add_property("Kp",
 bp::make_function(
 &TaskSE3EqualityPythonVisitor::Kp,
 bp::return_value_policy<bp::copy_const_reference>()))
 .add_property("Kd",
 bp::make_function(
 &TaskSE3EqualityPythonVisitor::Kd,
 bp::return_value_policy<bp::copy_const_reference>()))
 .def("setKp", &TaskSE3EqualityPythonVisitor::setKp, bp::arg("Kp"))
 .def("setKd", &TaskSE3EqualityPythonVisitor::setKd, bp::arg("Kd"))
 .def("useLocalFrame", &TaskSE3EqualityPythonVisitor::useLocalFrame,
 bp::arg("local_frame"))
 .add_property("mask",
 bp::make_function(
 &TaskSE3EqualityPythonVisitor::getMask,
 bp::return_value_policy<bp::copy_const_reference>()),
 "Return mask")
 .def("setMask", &TaskSE3EqualityPythonVisitor::setMask, bp::arg("mask"))
 .def("compute", &TaskSE3EqualityPythonVisitor::compute,
 bp::args("t", "q", "v", "data"))
 .def("getConstraint", &TaskSE3EqualityPythonVisitor::getConstraint)
 .add_property("frame_id", &TaskSE3::frame_id, "frame id return")
 .add_property("name", &TaskSE3EqualityPythonVisitor::name);
 }
 static std::string name(TaskSE3& self) {
 std::string name = self.name();
 return name;
 }
 static math::ConstraintEquality compute(TaskSE3& 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 TaskSE3& self) {
 math::ConstraintEquality cons(self.getConstraint().name(),
 self.getConstraint().matrix(),
 self.getConstraint().vector());
 return cons;
 }
 static void setReference(TaskSE3& self, trajectories::TrajectorySample& ref) {
 self.setReference(ref);
 }
 static const Eigen::VectorXd& getDesiredAcceleration(const TaskSE3& self) {
 return self.getDesiredAcceleration();
 }
 static Eigen::VectorXd getAcceleration(TaskSE3& self,
 const Eigen::VectorXd dv) {
 return self.getAcceleration(dv);
 }
 static const Eigen::VectorXd& position_error(const TaskSE3& self) {
 return self.position_error();
 }
 static const Eigen::VectorXd& velocity_error(const TaskSE3& self) {
 return self.velocity_error();
 }
 static const Eigen::VectorXd& position(const TaskSE3& self) {
 return self.position();
 }
 static const Eigen::VectorXd& velocity(const TaskSE3& self) {
 return self.velocity();
 }
 static const Eigen::VectorXd& position_ref(const TaskSE3& self) {
 return self.position_ref();
 }
 static const Eigen::VectorXd& velocity_ref(const TaskSE3& self) {
 return self.velocity_ref();
 }
 static const Eigen::VectorXd& Kp(TaskSE3& self) { return self.Kp(); }
 static const Eigen::VectorXd& Kd(TaskSE3& self) { return self.Kd(); }
 static void setKp(TaskSE3& self, const ::Eigen::VectorXd Kp) {
 return self.Kp(Kp);
 }
 static void setKd(TaskSE3& self, const ::Eigen::VectorXd Kv) {
 return self.Kd(Kv);
 }
 static void useLocalFrame(TaskSE3& self, const bool local_frame) {
 self.useLocalFrame(local_frame);
 }
 static void getMask(TaskSE3& self) { self.getMask(); }
 static void setMask(TaskSE3& self, const ::Eigen::VectorXd mask) {
 self.setMask(mask);
 }
 static Eigen::VectorXd frame_id(TaskSE3& self) { return self.frame_id(); }
 static void expose(const std::string& class_name) {
 std::string doc = "TaskSE3 info.";
 bp::class_<TaskSE3>(class_name.c_str(), doc.c_str(), bp::no_init)
 .def(TaskSE3EqualityPythonVisitor<TaskSE3>());

 // bp::register_ptr_to_python< boost::shared_ptr<math::ConstraintBase> >();
 }
};
} // namespace python
} // namespace tsid

#endif // ifndef __tsid_python_task_se3_hpp__