task-am-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_am_hpp__
#define __tsid_python_task_am_hpp__

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

#include "tsid/tasks/task-angular-momentum-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 TaskAM>
struct TaskAMEqualityPythonVisitor
 : public boost::python::def_visitor<TaskAMEqualityPythonVisitor<TaskAM> > {
 template <class PyClass>

 void visit(PyClass& cl) const {
 cl.def(bp::init<std::string, robots::RobotWrapper&>(
 (bp::arg("name"), bp::arg("robot")), "Default Constructor"))
 .add_property("dim", &TaskAM::dim, "return dimension size")
 .def("setReference", &TaskAMEqualityPythonVisitor::setReference,
 bp::arg("ref"))
 .add_property(
 "getDesiredMomentumDerivative",
 bp::make_function(
 &TaskAMEqualityPythonVisitor::getDesiredMomentumDerivative,
 bp::return_value_policy<bp::copy_const_reference>()),
 "Return dL_desired")
 .def("getdMomentum", &TaskAMEqualityPythonVisitor::getdMomentum,
 bp::arg("dv"))
 .add_property("momentum_error",
 bp::make_function(
 &TaskAMEqualityPythonVisitor::momentum_error,
 bp::return_value_policy<bp::copy_const_reference>()))
 .add_property("momentum",
 bp::make_function(
 &TaskAMEqualityPythonVisitor::momentum,
 bp::return_value_policy<bp::copy_const_reference>()))
 .add_property("momentum_ref",
 bp::make_function(
 &TaskAMEqualityPythonVisitor::momentum_ref,
 bp::return_value_policy<bp::copy_const_reference>()))
 .add_property("dmomentum_ref",
 bp::make_function(
 &TaskAMEqualityPythonVisitor::dmomentum_ref,
 bp::return_value_policy<bp::copy_const_reference>()))
 .add_property("Kp",
 bp::make_function(
 &TaskAMEqualityPythonVisitor::Kp,
 bp::return_value_policy<bp::copy_const_reference>()))
 .add_property("Kd",
 bp::make_function(
 &TaskAMEqualityPythonVisitor::Kd,
 bp::return_value_policy<bp::copy_const_reference>()))
 .def("setKp", &TaskAMEqualityPythonVisitor::setKp, bp::arg("Kp"))
 .def("setKd", &TaskAMEqualityPythonVisitor::setKd, bp::arg("Kd"))
 .def("compute", &TaskAMEqualityPythonVisitor::compute,
 bp::args("t", "q", "v", "data"))
 .def("getConstraint", &TaskAMEqualityPythonVisitor::getConstraint)
 .add_property("name", &TaskAMEqualityPythonVisitor::name);
 }
 static std::string name(TaskAM& self) {
 std::string name = self.name();
 return name;
 }
 static math::ConstraintEquality compute(TaskAM& 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 TaskAM& self) {
 math::ConstraintEquality cons(self.getConstraint().name(),
 self.getConstraint().matrix(),
 self.getConstraint().vector());
 return cons;
 }
 static void setReference(TaskAM& self,
 const trajectories::TrajectorySample& ref) {
 self.setReference(ref);
 }
 static const Eigen::Vector3d& getDesiredMomentumDerivative(
 const TaskAM& self) {
 return self.getDesiredMomentumDerivative();
 }
 static Eigen::Vector3d getdMomentum(TaskAM& self, const Eigen::VectorXd dv) {
 return self.getdMomentum(dv);
 }
 static const Eigen::Vector3d& momentum_error(const TaskAM& self) {
 return self.momentum_error();
 }
 static const Eigen::Vector3d& momentum(const TaskAM& self) {
 return self.momentum();
 }
 static const Eigen::VectorXd& momentum_ref(const TaskAM& self) {
 return self.momentum_ref();
 }
 static const Eigen::VectorXd& dmomentum_ref(const TaskAM& self) {
 return self.dmomentum_ref();
 }
 static const Eigen::Vector3d& Kp(TaskAM& self) { return self.Kp(); }
 static const Eigen::Vector3d& Kd(TaskAM& self) { return self.Kd(); }
 static void setKp(TaskAM& self, const ::Eigen::VectorXd Kp) {
 return self.Kp(Kp);
 }
 static void setKd(TaskAM& self, const ::Eigen::VectorXd Kv) {
 return self.Kd(Kv);
 }
 static void expose(const std::string& class_name) {
 std::string doc = "TaskAMEqualityPythonVisitor info.";
 bp::class_<TaskAM>(class_name.c_str(), doc.c_str(), bp::no_init)
 .def(TaskAMEqualityPythonVisitor<TaskAM>());
 }
};
} // namespace python
} // namespace tsid

#endif // ifndef __tsid_python_task_am_hpp__