task-two-frames-equality.hpp

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//
// Copyright (c) 2023 MIPT
//
// 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_frames_hpp__
#define __tsid_python_task_frames_hpp__

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

#include "tsid/tasks/task-two-frames-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 TaskFrames>
struct TaskTwoFramesEqualityPythonVisitor
 : public boost::python::def_visitor<
 TaskTwoFramesEqualityPythonVisitor<TaskFrames> > {
 template <class PyClass>

 void visit(PyClass& cl) const {
 cl.def(bp::init<std::string, robots::RobotWrapper&, std::string,
 std::string>((bp::arg("name"), bp::arg("robot"),
 bp::arg("framename1"), bp::arg("framename2")),
 "Default Constructor"))
 .add_property("dim", &TaskFrames::dim, "return dimension size")
 .add_property(
 "getDesiredAcceleration",
 bp::make_function(
 &TaskTwoFramesEqualityPythonVisitor::getDesiredAcceleration,
 bp::return_value_policy<bp::copy_const_reference>()),
 "Return Acc_desired")
 .def("getAcceleration",
 &TaskTwoFramesEqualityPythonVisitor::getAcceleration,
 bp::arg("dv"))
 .add_property("position_error",
 bp::make_function(
 &TaskTwoFramesEqualityPythonVisitor::position_error,
 bp::return_value_policy<bp::copy_const_reference>()))
 .add_property("velocity_error",
 bp::make_function(
 &TaskTwoFramesEqualityPythonVisitor::velocity_error,
 bp::return_value_policy<bp::copy_const_reference>()))
 .add_property("Kp",
 bp::make_function(
 &TaskTwoFramesEqualityPythonVisitor::Kp,
 bp::return_value_policy<bp::copy_const_reference>()))
 .add_property("Kd",
 bp::make_function(
 &TaskTwoFramesEqualityPythonVisitor::Kd,
 bp::return_value_policy<bp::copy_const_reference>()))
 .def("setKp", &TaskTwoFramesEqualityPythonVisitor::setKp, bp::arg("Kp"))
 .def("setKd", &TaskTwoFramesEqualityPythonVisitor::setKd, bp::arg("Kd"))
 .add_property("mask",
 bp::make_function(
 &TaskTwoFramesEqualityPythonVisitor::getMask,
 bp::return_value_policy<bp::copy_const_reference>()),
 "Return mask")
 .def("setMask", &TaskTwoFramesEqualityPythonVisitor::setMask,
 bp::arg("mask"))
 .def("compute", &TaskTwoFramesEqualityPythonVisitor::compute,
 bp::args("t", "q", "v", "data"))
 .def("getConstraint",
 &TaskTwoFramesEqualityPythonVisitor::getConstraint)
 .add_property("frame_id1", &TaskFrames::frame_id1, "frame id 1 return")
 .add_property("frame_id2", &TaskFrames::frame_id2, "frame id 2 return")
 .add_property("name", &TaskTwoFramesEqualityPythonVisitor::name);
 }
 static std::string name(TaskFrames& self) {
 std::string name = self.name();
 return name;
 }
 static math::ConstraintEquality compute(TaskFrames& 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 TaskFrames& self) {
 math::ConstraintEquality cons(self.getConstraint().name(),
 self.getConstraint().matrix(),
 self.getConstraint().vector());
 return cons;
 }
 static const Eigen::VectorXd& getDesiredAcceleration(const TaskFrames& self) {
 return self.getDesiredAcceleration();
 }
 static Eigen::VectorXd getAcceleration(TaskFrames& self,
 const Eigen::VectorXd dv) {
 return self.getAcceleration(dv);
 }
 static const Eigen::VectorXd& position_error(const TaskFrames& self) {
 return self.position_error();
 }
 static const Eigen::VectorXd& velocity_error(const TaskFrames& self) {
 return self.velocity_error();
 }
 static const Eigen::VectorXd& Kp(TaskFrames& self) { return self.Kp(); }
 static const Eigen::VectorXd& Kd(TaskFrames& self) { return self.Kd(); }
 static void setKp(TaskFrames& self, const ::Eigen::VectorXd Kp) {
 return self.Kp(Kp);
 }
 static void setKd(TaskFrames& self, const ::Eigen::VectorXd Kv) {
 return self.Kd(Kv);
 }
 static void getMask(TaskFrames& self) { self.getMask(); }
 static void setMask(TaskFrames& self, const ::Eigen::VectorXd mask) {
 self.setMask(mask);
 }
 static Eigen::VectorXd frame_id1(TaskFrames& self) {
 return self.frame_id1();
 }
 static Eigen::VectorXd frame_id2(TaskFrames& self) {
 return self.frame_id2();
 }

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

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

#endif // ifndef __tsid_python_task_frames_hpp__