trajectory-base.hpp

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//
// Copyright (c) 2018 CNRS
//

#ifndef __tsid_python_traj_sample_hpp__
#define __tsid_python_traj_sample_hpp__

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

#include <tsid/math/utils.hpp>
#include "tsid/trajectories/trajectory-base.hpp"

#include <pinocchio/bindings/python/utils/deprecation.hpp>
#include <assert.h>
namespace tsid {
namespace python {
namespace bp = boost::python;
typedef pinocchio::SE3 SE3;

template <typename TrajSample>
struct TrajectorySamplePythonVisitor
 : public boost::python::def_visitor<
 TrajectorySamplePythonVisitor<TrajSample> > {
 template <class PyClass>

 void visit(PyClass& cl) const {
 cl.def(bp::init<unsigned int>((bp::arg("size")),
 "Default Constructor with size"))
 .def(bp::init<unsigned int, unsigned int>(
 (bp::arg("value_size"), bp::arg("derivative_size")),
 "Default Constructor with value and derivative size"))

 .def("resize", &TrajectorySamplePythonVisitor::resize, bp::arg("size"))
 .def("resize", &TrajectorySamplePythonVisitor::resize2,
 bp::args("value_size", "derivative_size"))

 .def("value", &TrajectorySamplePythonVisitor::value)
 .def("derivative", &TrajectorySamplePythonVisitor::derivative)
 .def("second_derivative",
 &TrajectorySamplePythonVisitor::second_derivative)

 .def("value", &TrajectorySamplePythonVisitor::setvalue_vec)
 .def("value", &TrajectorySamplePythonVisitor::setvalue_se3)
 .def("derivative", &TrajectorySamplePythonVisitor::setderivative)
 .def("second_derivative",
 &TrajectorySamplePythonVisitor::setsecond_derivative)

 // Deprecated methods:
 .def("pos", &TrajectorySamplePythonVisitor::value,
 pinocchio::python::deprecated_function<>(
 "This method is now deprecated. Please use .value"))
 .def("vel", &TrajectorySamplePythonVisitor::derivative,
 pinocchio::python::deprecated_function<>(
 "This method is now deprecated. Please use .derivative"))
 .def(
 "acc", &TrajectorySamplePythonVisitor::second_derivative,
 pinocchio::python::deprecated_function<>(
 "This method is now deprecated. Please use .second_derivative"))

 .def("pos", &TrajectorySamplePythonVisitor::setvalue_vec,
 pinocchio::python::deprecated_function<>(
 "This method is now deprecated. Please use .value"))
 .def("pos", &TrajectorySamplePythonVisitor::setvalue_se3,
 pinocchio::python::deprecated_function<>(
 "This method is now deprecated. Please use .value"))
 .def("vel", &TrajectorySamplePythonVisitor::setderivative,
 pinocchio::python::deprecated_function<>(
 "This method is now deprecated. Please use .derivative"))
 .def("acc", &TrajectorySamplePythonVisitor::setsecond_derivative,
 pinocchio::python::deprecated_function<>(
 "This method is now deprecated. Please use "
 ".second_derivative"));
 }

 static void setvalue_vec(TrajSample& self, const Eigen::VectorXd value) {
 assert(self.getValue().size() == value.size());
 self.setValue(value);
 }
 static void setvalue_se3(TrajSample& self, const pinocchio::SE3& value) {
 assert(self.getValue().size() == 12);
 TSID_DISABLE_WARNING_PUSH
 TSID_DISABLE_WARNING_DEPRECATED
 tsid::math::SE3ToVector(value, self.pos);
 TSID_DISABLE_WARNING_POP
 }
 static void setderivative(TrajSample& self,
 const Eigen::VectorXd derivative) {
 assert(self.getDerivative().size() == derivative.size());
 self.setDerivative(derivative);
 }
 static void setsecond_derivative(TrajSample& self,
 const Eigen::VectorXd second_derivative) {
 assert(self.getSecondDerivative().size() == second_derivative.size());
 self.setSecondDerivative(second_derivative);
 }
 static void resize(TrajSample& self, const unsigned int& size) {
 self.resize(size, size);
 }
 static void resize2(TrajSample& self, const unsigned int& value_size,
 const unsigned int& derivative_size) {
 self.resize(value_size, derivative_size);
 }
 static Eigen::VectorXd value(const TrajSample& self) {
 return self.getValue();
 }
 static Eigen::VectorXd derivative(const TrajSample& self) {
 return self.getDerivative();
 }
 static Eigen::VectorXd second_derivative(const TrajSample& self) {
 return self.getSecondDerivative();
 }

 static void expose(const std::string& class_name) {
 std::string doc = "Trajectory Sample info.";
 bp::class_<TrajSample>(class_name.c_str(), doc.c_str(), bp::no_init)
 .def(TrajectorySamplePythonVisitor<TrajSample>());
 }
};
} // namespace python
} // namespace tsid

#endif // ifndef __tsid_python_traj_euclidian_hpp__