trajectory-se3.hpp

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

#ifndef __tsid_python_traj_se3_hpp__
#define __tsid_python_traj_se3_hpp__

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

#include "tsid/trajectories/trajectory-se3.hpp"
namespace tsid {
namespace python {
namespace bp = boost::python;

template <typename TrajSE3>
struct TrajectorySE3ConstantPythonVisitor
 : public boost::python::def_visitor<
 TrajectorySE3ConstantPythonVisitor<TrajSE3> > {
 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, pinocchio::SE3>(
 (bp::arg("name"), bp::arg("reference")),
 "Default Constructor with name and ref_vec"))

 .add_property("size", &TrajSE3::size)
 .def("setReference", &TrajectorySE3ConstantPythonVisitor::setReference,
 bp::arg("M_ref"))
 .def("computeNext", &TrajectorySE3ConstantPythonVisitor::computeNext)
 .def("getLastSample",
 &TrajectorySE3ConstantPythonVisitor::getLastSample,
 bp::arg("sample"))
 .def("has_trajectory_ended",
 &TrajectorySE3ConstantPythonVisitor::has_trajectory_ended)
 .def("getSample", &TrajectorySE3ConstantPythonVisitor::getSample,
 bp::arg("time"));
 }
 static void setReference(TrajSE3& self, const pinocchio::SE3& ref) {
 self.setReference(ref);
 }
 static trajectories::TrajectorySample computeNext(TrajSE3& self) {
 return self.computeNext();
 }
 static void getLastSample(const TrajSE3& self,
 trajectories::TrajectorySample& sample) {
 self.getLastSample(sample);
 }
 static bool has_trajectory_ended(const TrajSE3& self) {
 return self.has_trajectory_ended();
 }
 static trajectories::TrajectorySample getSample(TrajSE3& self, double time) {
 return self.operator()(time);
 }

 static void expose(const std::string& class_name) {
 std::string doc = "Trajectory SE3 Constant info.";
 bp::class_<TrajSE3>(class_name.c_str(), doc.c_str(), bp::no_init)
 .def(TrajectorySE3ConstantPythonVisitor<TrajSE3>());
 }
};
} // namespace python
} // namespace tsid

#endif // ifndef __tsid_python_traj_se3_hpp__