trajectory-euclidian.hpp

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

#ifndef __tsid_python_traj_euclidian_hpp__
#define __tsid_python_traj_euclidian_hpp__

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

#include "tsid/trajectories/trajectory-euclidian.hpp"
namespace tsid {
namespace python {
namespace bp = boost::python;

template <typename Traj>
struct TrajectoryEuclidianConstantPythonVisitor
 : public boost::python::def_visitor<
 TrajectoryEuclidianConstantPythonVisitor<Traj> > {
 template <class PyClass>

 void visit(PyClass& cl) const {
 cl.def(bp::init<std::string>((bp::arg("name")),
 "Default Constructor with name"))
 .def(bp::init<std::string, Eigen::VectorXd>(
 (bp::arg("name"), bp::arg("reference")),
 "Default Constructor with name and ref_vec"))

 .add_property("size", &Traj::size)
 .def("setReference",
 &TrajectoryEuclidianConstantPythonVisitor::setReference,
 bp::arg("ref_vec"))
 .def("computeNext",
 &TrajectoryEuclidianConstantPythonVisitor::computeNext)
 .def("getLastSample",
 &TrajectoryEuclidianConstantPythonVisitor::getLastSample,
 bp::arg("sample"))
 .def("has_trajectory_ended",
 &TrajectoryEuclidianConstantPythonVisitor::has_trajectory_ended)
 .def("getSample", &TrajectoryEuclidianConstantPythonVisitor::getSample,
 bp::arg("time"));
 }
 static void setReference(Traj& self, const Eigen::VectorXd& ref) {
 self.setReference(ref);
 }
 static trajectories::TrajectorySample computeNext(Traj& self) {
 return self.computeNext();
 }
 static void getLastSample(const Traj& self,
 trajectories::TrajectorySample& sample) {
 self.getLastSample(sample);
 }
 static bool has_trajectory_ended(const Traj& self) {
 return self.has_trajectory_ended();
 }
 static trajectories::TrajectorySample getSample(Traj& self, double time) {
 return self.operator()(time);
 }

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

#endif // ifndef __tsid_python_traj_euclidian_hpp__