18#ifndef __tsid_python_task_contact_force_equality_hpp__
19#define __tsid_python_task_contact_force_equality_hpp__
32 namespace bp = boost::python;
34 template<
typename TaskContactForceEquality>
36 :
public boost::python::def_visitor< TaskContactForceEqualityPythonVisitor<TaskContactForceEquality> >
39 template<
class PyClass>
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")
62 static std::string
name(TaskContactForceEquality & self){
63 std::string
name = self.name();
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());
72 math::ConstraintEquality cons(self.getConstraint().name(), self.getConstraint().matrix(), self.getConstraint().vector());
76 self.setReference(ref);
79 self.setExternalForce(f_ext);
81 static const Eigen::VectorXd &
Kp (TaskContactForceEquality & self){
84 static const Eigen::VectorXd &
Kd (TaskContactForceEquality & self){
87 static const Eigen::VectorXd &
Ki (TaskContactForceEquality & self){
90 static const double &
getLeakRate (TaskContactForceEquality & self){
91 return self.getLeakRate();
93 static void setKp (TaskContactForceEquality & self, const::Eigen::VectorXd
Kp){
96 static void setKd (TaskContactForceEquality & self, const::Eigen::VectorXd
Kd){
99 static void setKi (TaskContactForceEquality & self, const::Eigen::VectorXd
Ki){
102 static void setLeakRate (TaskContactForceEquality & self,
const double leak){
103 return self.setLeakRate(leak);
105 static void expose(
const std::string & class_name)
107 std::string doc =
"TaskContactForceEqualityPythonVisitor info.";
108 bp::class_<TaskContactForceEquality>(class_name.c_str(),
Definition: constraint-equality.hpp:29
Definition: trajectory-base.hpp:36
Definition: constraint-bound.hpp:27