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18 #ifndef __tsid_python_task_joint_hpp__
19 #define __tsid_python_task_joint_hpp__
32 namespace bp = boost::python;
34 template<
typename TaskJo
int>
36 :
public boost::python::def_visitor< TaskJointPosturePythonVisitor<TaskJoint> >
39 template<
class PyClass>
45 .def(bp::init<std::string, robots::RobotWrapper &> ((bp::arg(
"name"), bp::arg(
"robot")),
"Default Constructor"))
46 .add_property(
"dim", &TaskJoint::dim,
"return dimension size")
67 static std::string
name(TaskJoint &
self){
68 std::string
name =
self.name();
72 self.compute(t, q, v, data);
81 self.setReference(ref);
84 return self.getDesiredAcceleration();
86 static const Eigen::VectorXd &
getmask(
const TaskJoint &
self){
87 return self.getMask();
89 static void setmask (TaskJoint &
self,
const Eigen::VectorXd mask){
90 return self.setMask(mask);
92 static Eigen::VectorXd
getAcceleration (TaskJoint &
self,
const Eigen::VectorXd dv){
93 return self.getAcceleration(dv);
96 return self.position_error();
99 return self.velocity_error();
101 static const Eigen::VectorXd &
position (
const TaskJoint &
self){
102 return self.position();
104 static const Eigen::VectorXd &
velocity (
const TaskJoint &
self){
105 return self.velocity();
108 return self.position_ref();
111 return self.velocity_ref();
113 static const Eigen::VectorXd &
Kp (TaskJoint &
self){
116 static const Eigen::VectorXd &
Kd (TaskJoint &
self){
119 static void setKp (TaskJoint &
self, const::Eigen::VectorXd
Kp){
122 static void setKd (TaskJoint &
self, const::Eigen::VectorXd Kv){
125 static void expose(
const std::string & class_name)
127 std::string doc =
"TaskJoint info.";
128 bp::class_<TaskJoint>(class_name.c_str(),
140 #endif // ifndef __tsid_python_task_joint_hpp__
Definition: trajectory-base.hpp:35
static const Eigen::VectorXd & getmask(const TaskJoint &self)
Definition: task-joint-posture.hpp:86
Definition: constraint-equality.hpp:28
static std::string name(TaskJoint &self)
Definition: task-joint-posture.hpp:67
static const Eigen::VectorXd & position(const TaskJoint &self)
Definition: task-joint-posture.hpp:101
static const Eigen::VectorXd & velocity_error(const TaskJoint &self)
Definition: task-joint-posture.hpp:98
static void setKp(TaskJoint &self, const ::Eigen::VectorXd Kp)
Definition: task-joint-posture.hpp:119
static const Eigen::VectorXd & position_error(const TaskJoint &self)
Definition: task-joint-posture.hpp:95
static const Eigen::VectorXd & Kd(TaskJoint &self)
Definition: task-joint-posture.hpp:116
static const Eigen::VectorXd & position_ref(const TaskJoint &self)
Definition: task-joint-posture.hpp:107
static math::ConstraintEquality getConstraint(const TaskJoint &self)
Definition: task-joint-posture.hpp:76
static void setReference(TaskJoint &self, const trajectories::TrajectorySample &ref)
Definition: task-joint-posture.hpp:80
static const Eigen::VectorXd & Kp(TaskJoint &self)
Definition: task-joint-posture.hpp:113
static void expose(const std::string &class_name)
Definition: task-joint-posture.hpp:125
void visit(PyClass &cl) const
Definition: task-joint-posture.hpp:42
static const Eigen::VectorXd & getDesiredAcceleration(const TaskJoint &self)
Definition: task-joint-posture.hpp:83
static const Eigen::VectorXd & velocity_ref(const TaskJoint &self)
Definition: task-joint-posture.hpp:110
static Eigen::VectorXd getAcceleration(TaskJoint &self, const Eigen::VectorXd dv)
Definition: task-joint-posture.hpp:92
static const Eigen::VectorXd & velocity(const TaskJoint &self)
Definition: task-joint-posture.hpp:104
Definition: constraint-bound.hpp:26
static math::ConstraintEquality compute(TaskJoint &self, const double t, const Eigen::VectorXd &q, const Eigen::VectorXd &v, pinocchio::Data &data)
Definition: task-joint-posture.hpp:71
Definition: task-joint-posture.hpp:35
static void setmask(TaskJoint &self, const Eigen::VectorXd mask)
Definition: task-joint-posture.hpp:89
static void setKd(TaskJoint &self, const ::Eigen::VectorXd Kv)
Definition: task-joint-posture.hpp:122