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task-contact-force-equality.hpp
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1//
2// Copyright (c) 2021 LAAS-CNRS, University of Trento
3//
4// This file is part of tsid
5// tsid is free software: you can redistribute it
6// and/or modify it under the terms of the GNU Lesser General Public
7// License as published by the Free Software Foundation, either version
8// 3 of the License, or (at your option) any later version.
9// tsid is distributed in the hope that it will be
10// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
11// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12// General Lesser Public License for more details. You should have
13// received a copy of the GNU Lesser General Public License along with
14// tsid If not, see
15// <http://www.gnu.org/licenses/>.
16//
17
18#ifndef __tsid_python_task_contact_force_equality_hpp__
19#define __tsid_python_task_contact_force_equality_hpp__
20
22
28namespace tsid
29{
30 namespace python
31 {
32 namespace bp = boost::python;
33
34 template<typename TaskContactForceEquality>
36 : public boost::python::def_visitor< TaskContactForceEqualityPythonVisitor<TaskContactForceEquality> >
37 {
38
39 template<class PyClass>
40
41
42 void visit(PyClass& cl) const
43 {
44 cl
45 .def(bp::init<std::string, robots::RobotWrapper &, double, contacts::ContactBase &> ((bp::arg("name"), bp::arg("robot"), bp::arg("dt"), bp::arg("contact")), "Default Constructor"))
46 .add_property("dim", &TaskContactForceEquality::dim, "return dimension size")
47 .def("setReference", &TaskContactForceEqualityPythonVisitor::setReference, bp::arg("ref"))
48 .def("setExternalForce", &TaskContactForceEqualityPythonVisitor::setExternalForce, bp::arg("f_ext"))
49 .def("compute", &TaskContactForceEqualityPythonVisitor::compute, bp::args("t", "q", "v", "data"))
52 .add_property("Kp", bp::make_function(&TaskContactForceEqualityPythonVisitor::Kp, bp::return_value_policy<bp::copy_const_reference>()))
53 .add_property("Kd", bp::make_function(&TaskContactForceEqualityPythonVisitor::Kd, bp::return_value_policy<bp::copy_const_reference>()))
54 .add_property("Ki", bp::make_function(&TaskContactForceEqualityPythonVisitor::Kd, bp::return_value_policy<bp::copy_const_reference>()))
55 .add_property("getLeakRate", bp::make_function(&TaskContactForceEqualityPythonVisitor::getLeakRate, bp::return_value_policy<bp::copy_const_reference>()))
56 .def("setKp", &TaskContactForceEqualityPythonVisitor::setKp, bp::arg("Kp"))
57 .def("setKd", &TaskContactForceEqualityPythonVisitor::setKd, bp::arg("Kd"))
58 .def("setKi", &TaskContactForceEqualityPythonVisitor::setKi, bp::arg("Ki"))
59 .def("setLeakRate", &TaskContactForceEqualityPythonVisitor::setLeakRate, bp::arg("leak"))
60 ;
61 }
62 static std::string name(TaskContactForceEquality & self){
63 std::string name = self.name();
64 return name;
65 }
66 static math::ConstraintEquality compute(TaskContactForceEquality & self, const double t, const Eigen::VectorXd & q, const Eigen::VectorXd & v, pinocchio::Data & data){
67 self.compute(t, q, v, data);
68 math::ConstraintEquality cons(self.getConstraint().name(), self.getConstraint().matrix(), self.getConstraint().vector());
69 return cons;
70 }
71 static math::ConstraintEquality getConstraint(const TaskContactForceEquality & self){
72 math::ConstraintEquality cons(self.getConstraint().name(), self.getConstraint().matrix(), self.getConstraint().vector());
73 return cons;
74 }
75 static void setReference(TaskContactForceEquality & self, trajectories::TrajectorySample & ref){
76 self.setReference(ref);
77 }
78 static void setExternalForce(TaskContactForceEquality & self, trajectories::TrajectorySample & f_ext){
79 self.setExternalForce(f_ext);
80 }
81 static const Eigen::VectorXd & Kp (TaskContactForceEquality & self){
82 return self.Kp();
83 }
84 static const Eigen::VectorXd & Kd (TaskContactForceEquality & self){
85 return self.Kd();
86 }
87 static const Eigen::VectorXd & Ki (TaskContactForceEquality & self){
88 return self.Ki();
89 }
90 static const double & getLeakRate (TaskContactForceEquality & self){
91 return self.getLeakRate();
92 }
93 static void setKp (TaskContactForceEquality & self, const::Eigen::VectorXd Kp){
94 return self.Kp(Kp);
95 }
96 static void setKd (TaskContactForceEquality & self, const::Eigen::VectorXd Kd){
97 return self.Kd(Kd);
98 }
99 static void setKi (TaskContactForceEquality & self, const::Eigen::VectorXd Ki){
100 return self.Ki(Ki);
101 }
102 static void setLeakRate (TaskContactForceEquality & self, const double leak){
103 return self.setLeakRate(leak);
104 }
105 static void expose(const std::string & class_name)
106 {
107 std::string doc = "TaskContactForceEqualityPythonVisitor info.";
108 bp::class_<TaskContactForceEquality>(class_name.c_str(),
109 doc.c_str(),
110 bp::no_init)
112 }
113 };
114 }
115}
116
117
118#endif // ifndef __tsid_python_task_contact_force_equality_hpp__
Definition: constraint-equality.hpp:29
Definition: trajectory-base.hpp:36
Definition: constraint-bound.hpp:27
Definition: task-contact-force-equality.hpp:37
static math::ConstraintEquality compute(TaskContactForceEquality &self, const double t, const Eigen::VectorXd &q, const Eigen::VectorXd &v, pinocchio::Data &data)
Definition: task-contact-force-equality.hpp:66
static void setLeakRate(TaskContactForceEquality &self, const double leak)
Definition: task-contact-force-equality.hpp:102
static void setReference(TaskContactForceEquality &self, trajectories::TrajectorySample &ref)
Definition: task-contact-force-equality.hpp:75
static const Eigen::VectorXd & Kd(TaskContactForceEquality &self)
Definition: task-contact-force-equality.hpp:84
static std::string name(TaskContactForceEquality &self)
Definition: task-contact-force-equality.hpp:62
static const Eigen::VectorXd & Ki(TaskContactForceEquality &self)
Definition: task-contact-force-equality.hpp:87
void visit(PyClass &cl) const
Definition: task-contact-force-equality.hpp:42
static void setKp(TaskContactForceEquality &self, const ::Eigen::VectorXd Kp)
Definition: task-contact-force-equality.hpp:93
static const double & getLeakRate(TaskContactForceEquality &self)
Definition: task-contact-force-equality.hpp:90
static void setExternalForce(TaskContactForceEquality &self, trajectories::TrajectorySample &f_ext)
Definition: task-contact-force-equality.hpp:78
static const Eigen::VectorXd & Kp(TaskContactForceEquality &self)
Definition: task-contact-force-equality.hpp:81
static void setKi(TaskContactForceEquality &self, const ::Eigen::VectorXd Ki)
Definition: task-contact-force-equality.hpp:99
static math::ConstraintEquality getConstraint(const TaskContactForceEquality &self)
Definition: task-contact-force-equality.hpp:71
static void expose(const std::string &class_name)
Definition: task-contact-force-equality.hpp:105
static void setKd(TaskContactForceEquality &self, const ::Eigen::VectorXd Kd)
Definition: task-contact-force-equality.hpp:96