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18 #ifndef __tsid_python_task_com_hpp__
19 #define __tsid_python_task_com_hpp__
32 namespace bp = boost::python;
34 template<
typename TaskCOM>
36 :
public boost::python::def_visitor< TaskCOMEqualityPythonVisitor<TaskCOM> >
39 template<
class PyClass>
45 .def(bp::init<std::string, robots::RobotWrapper &> ((bp::arg(
"name"), bp::arg(
"robot")),
"Default Constructor"))
46 .add_property(
"dim", &TaskCOM::dim,
"return dimension size")
67 static std::string
name(TaskCOM &
self){
68 std::string
name =
self.name();
72 self.compute(t, q, v, data);
81 self.setReference(ref);
84 return self.getDesiredAcceleration();
86 static Eigen::VectorXd
getAcceleration (TaskCOM &
self,
const Eigen::VectorXd dv){
87 return self.getAcceleration(dv);
90 return self.position_error();
93 return self.velocity_error();
95 static const Eigen::VectorXd &
position (
const TaskCOM &
self){
96 return self.position();
98 static const Eigen::VectorXd &
velocity (
const TaskCOM &
self){
99 return self.velocity();
102 return self.position_ref();
105 return self.velocity_ref();
107 static const Eigen::Vector3d &
Kp (TaskCOM &
self){
110 static const Eigen::Vector3d &
Kd (TaskCOM &
self){
113 static void setKp (TaskCOM &
self, const::Eigen::VectorXd
Kp){
116 static void setKd (TaskCOM &
self, const::Eigen::VectorXd Kv){
119 static const Eigen::VectorXd &
getmask(
const TaskCOM &
self){
120 return self.getMask();
122 static void setmask (TaskCOM &
self,
const Eigen::VectorXd mask){
123 return self.setMask(mask);
125 static void expose(
const std::string & class_name)
127 std::string doc =
"TaskCOMEqualityPythonVisitor info.";
128 bp::class_<TaskCOM>(class_name.c_str(),
133 bp::register_ptr_to_python< boost::shared_ptr<math::ConstraintBase> >();
140 #endif // ifndef __tsid_python_task_com_hpp__
static const Eigen::Vector3d & Kd(TaskCOM &self)
Definition: task-com-equality.hpp:110
Definition: trajectory-base.hpp:35
static math::ConstraintEquality getConstraint(const TaskCOM &self)
Definition: task-com-equality.hpp:76
Definition: constraint-equality.hpp:28
static const Eigen::VectorXd & position(const TaskCOM &self)
Definition: task-com-equality.hpp:95
static const Eigen::VectorXd & velocity_ref(const TaskCOM &self)
Definition: task-com-equality.hpp:104
static void setKd(TaskCOM &self, const ::Eigen::VectorXd Kv)
Definition: task-com-equality.hpp:116
static void setmask(TaskCOM &self, const Eigen::VectorXd mask)
Definition: task-com-equality.hpp:122
static void expose(const std::string &class_name)
Definition: task-com-equality.hpp:125
static void setReference(TaskCOM &self, const trajectories::TrajectorySample &ref)
Definition: task-com-equality.hpp:80
static std::string name(TaskCOM &self)
Definition: task-com-equality.hpp:67
static const Eigen::VectorXd & getDesiredAcceleration(const TaskCOM &self)
Definition: task-com-equality.hpp:83
static const Eigen::VectorXd & position_ref(const TaskCOM &self)
Definition: task-com-equality.hpp:101
static const Eigen::VectorXd & velocity_error(const TaskCOM &self)
Definition: task-com-equality.hpp:92
Definition: task-com-equality.hpp:35
static const Eigen::VectorXd & velocity(const TaskCOM &self)
Definition: task-com-equality.hpp:98
static const Eigen::Vector3d & Kp(TaskCOM &self)
Definition: task-com-equality.hpp:107
static const Eigen::VectorXd & getmask(const TaskCOM &self)
Definition: task-com-equality.hpp:119
Definition: constraint-bound.hpp:26
static const Eigen::VectorXd & position_error(const TaskCOM &self)
Definition: task-com-equality.hpp:89
static math::ConstraintEquality compute(TaskCOM &self, const double t, const Eigen::VectorXd &q, const Eigen::VectorXd &v, pinocchio::Data &data)
Definition: task-com-equality.hpp:71
void visit(PyClass &cl) const
Definition: task-com-equality.hpp:42
static void setKp(TaskCOM &self, const ::Eigen::VectorXd Kp)
Definition: task-com-equality.hpp:113
static Eigen::VectorXd getAcceleration(TaskCOM &self, const Eigen::VectorXd dv)
Definition: task-com-equality.hpp:86