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HQPOutput.hpp
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1//
2// Copyright (c) 2018 CNRS
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_HQPOutput_hpp__
19#define __tsid_python_HQPOutput_hpp__
20
22
24
25namespace tsid
26{
27 namespace python
28 {
29 namespace bp = boost::python;
30
31 template<typename T>
33 : public boost::python::def_visitor< HQPOutputPythonVisitor<T> >
34 {
35 template<class PyClass>
36
37 void visit(PyClass& cl) const
38 {
39 cl
40 .def(bp::init<>("Defulat Constructor"))
41 .def(bp::init<int, int, int>((bp::args("nVars", "nEq", "nInCon"))))
42 .add_property("x", &HQPOutputPythonVisitor::x)
43 .add_property("status", &HQPOutputPythonVisitor::status)
44 ;
45 }
46 static Eigen::VectorXd x (const T & self) {return self.x;}
47 static int status (const T & self) {return self.status;}
48 static void expose(const std::string & class_name)
49 {
50 std::string doc = "HQPOutput info.";
51 bp::class_<T>(class_name.c_str(),
52 doc.c_str(),
53 bp::no_init)
55 }
56 };
57 }
58}
59
60
61#endif // ifndef __tsid_python_HQPOutput_hpp__
Definition: constraint-bound.hpp:27
Definition: HQPOutput.hpp:34
static void expose(const std::string &class_name)
Definition: HQPOutput.hpp:48
static int status(const T &self)
Definition: HQPOutput.hpp:47
void visit(PyClass &cl) const
Definition: HQPOutput.hpp:37
static Eigen::VectorXd x(const T &self)
Definition: HQPOutput.hpp:46