Loading...
Searching...
No Matches
constraint-equality.hpp
Go to the documentation of this file.
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
19#ifndef __tsid_python_constriant_equality_hpp__
20#define __tsid_python_constriant_equality_hpp__
21
23
25
26namespace tsid
27{
28 namespace python
29 {
30 namespace bp = boost::python;
31
32 template<typename ConstraintEquality>
34 : public boost::python::def_visitor< ConstraintEqPythonVisitor<ConstraintEquality> >
35 {
36 template<class PyClass>
37
38 void visit(PyClass& cl) const
39 {
40 cl
41 .def(bp::init<std::string>((bp::arg("name")), "Default constructor with name."))
42 .def(bp::init<std::string, unsigned int, unsigned int>((bp::arg("name"), bp::arg("row"), bp::arg("col")), "Default constructor with name and size."))
43 .def(bp::init<std::string, Eigen::MatrixXd, Eigen::VectorXd>((bp::arg("name"), bp::arg("A"), bp::arg("b")), "Default constructor with name and constraint."))
44
45 .add_property("rows", &ConstraintEquality::rows)
46 .add_property("cols", &ConstraintEquality::cols)
47 .def("resize",&ConstraintEquality::resize, (bp::arg("r"), bp::arg("c")),"Resize constraint size.")
48
49 .add_property("isEquality", &ConstraintEquality::isEquality)
50 .add_property("isInequality", &ConstraintEquality::isInequality)
51 .add_property("isBound", &ConstraintEquality::isBound)
52
53 .add_property("matrix", &ConstraintEqPythonVisitor::matrix)
54 .add_property("vector", &ConstraintEqPythonVisitor::vector)
55 .add_property("lowerBound", &ConstraintEqPythonVisitor::lowerBound)
56 .add_property("upperBound", &ConstraintEqPythonVisitor::upperBound)
57
58 .def("setMatrix", (bool (ConstraintEquality::*)(const Eigen::MatrixXd &) const) &ConstraintEquality::setMatrix, bp::args("matrix"), "Set Matrix")
59 .def("setVector", (bool (ConstraintEquality::*)(const Eigen::VectorXd &) const) &ConstraintEquality::setVector, bp::args("vector"), "Set Vector")
60 .def("setLowerBound", (bool (ConstraintEquality::*)(const Eigen::VectorXd &) const) &ConstraintEquality::setLowerBound, bp::args("lb"), "Set LowerBound")
61 .def("setUpperBound", (bool (ConstraintEquality::*)(const Eigen::VectorXd &) const) &ConstraintEquality::setUpperBound, bp::args("ub"), "Set UpperBound")
62
63 ;
64 }
65 static Eigen::MatrixXd matrix (const ConstraintEquality & self) {return self.matrix();}
66 static Eigen::VectorXd vector (const ConstraintEquality & self) {return self.vector();}
67 static Eigen::VectorXd lowerBound (const ConstraintEquality & self) {return self.lowerBound();}
68 static Eigen::VectorXd upperBound (const ConstraintEquality & self) {return self.upperBound();}
69
70 static void expose(const std::string & class_name)
71 {
72 std::string doc = "Constraint Equality info.";
73 bp::class_<ConstraintEquality>(class_name.c_str(),
74 doc.c_str(),
75 bp::no_init)
77
78 eigenpy::enableEigenPySpecific<Eigen::MatrixXd>();
79 }
80 };
81 }
82}
83
84
85#endif // ifndef __tsid_python_constriant_equality_hpp__
Definition: constraint-bound.hpp:27
Definition: constraint-equality.hpp:35
static Eigen::VectorXd vector(const ConstraintEquality &self)
Definition: constraint-equality.hpp:66
void visit(PyClass &cl) const
Definition: constraint-equality.hpp:38
static void expose(const std::string &class_name)
Definition: constraint-equality.hpp:70
static Eigen::VectorXd lowerBound(const ConstraintEquality &self)
Definition: constraint-equality.hpp:67
static Eigen::VectorXd upperBound(const ConstraintEquality &self)
Definition: constraint-equality.hpp:68
static Eigen::MatrixXd matrix(const ConstraintEquality &self)
Definition: constraint-equality.hpp:65