18 #ifndef __tsid_python_task_se3_hpp__ 19 #define __tsid_python_task_se3_hpp__ 32 namespace bp = boost::python;
34 template<
typename TaskSE3>
36 :
public boost::python::def_visitor< TaskSE3EqualityPythonVisitor<TaskSE3> >
39 template<
class PyClass>
45 .def(bp::init<std::string, robots::RobotWrapper &, std::string> ((bp::arg(
"name"), bp::arg(
"robot"), bp::arg(
"framename")),
"Default Constructor"))
46 .add_property(
"dim", &TaskSE3::dim,
"return dimension size")
65 .add_property(
"frame_id", &TaskSE3::frame_id,
"frame id return")
69 static std::string
name(TaskSE3 &
self){
70 std::string
name =
self.name();
74 self.compute(t, q, v, data);
83 self.setReference(ref);
86 return self.getDesiredAcceleration();
88 static Eigen::VectorXd
getAcceleration (TaskSE3 &
self,
const Eigen::VectorXd dv){
89 return self.getAcceleration(dv);
92 return self.position_error();
95 return self.velocity_error();
97 static const Eigen::VectorXd &
position (
const TaskSE3 &
self){
98 return self.position();
100 static const Eigen::VectorXd &
velocity (
const TaskSE3 &
self){
101 return self.velocity();
104 return self.position_ref();
107 return self.velocity_ref();
109 static const Eigen::VectorXd &
Kp (TaskSE3 &
self){
112 static const Eigen::VectorXd &
Kd (TaskSE3 &
self){
115 static void setKp (TaskSE3 &
self, const::Eigen::VectorXd
Kp){
118 static void setKd (TaskSE3 &
self, const::Eigen::VectorXd Kv){
122 self.useLocalFrame(local_frame);
127 static void setMask (TaskSE3 &
self, const::Eigen::VectorXd mask) {
131 return self.frame_id();
133 static void expose(
const std::string & class_name)
135 std::string doc =
"TaskSE3 info.";
136 bp::class_<TaskSE3>(class_name.c_str(),
148 #endif // ifndef __tsid_python_task_se3_hpp__ Definition: constraint-equality.hpp:28
static const Eigen::VectorXd & position(const TaskSE3 &self)
Definition: task-se3-equality.hpp:97
static Eigen::VectorXd getAcceleration(TaskSE3 &self, const Eigen::VectorXd dv)
Definition: task-se3-equality.hpp:88
static const Eigen::VectorXd & velocity_error(const TaskSE3 &self)
Definition: task-se3-equality.hpp:94
static void setMask(TaskSE3 &self, const ::Eigen::VectorXd mask)
Definition: task-se3-equality.hpp:127
void visit(PyClass &cl) const
Definition: task-se3-equality.hpp:42
static std::string name(TaskSE3 &self)
Definition: task-se3-equality.hpp:69
static void setKd(TaskSE3 &self, const ::Eigen::VectorXd Kv)
Definition: task-se3-equality.hpp:118
static void useLocalFrame(TaskSE3 &self, const bool local_frame)
Definition: task-se3-equality.hpp:121
static Eigen::VectorXd frame_id(TaskSE3 &self)
Definition: task-se3-equality.hpp:130
static const Eigen::VectorXd & velocity_ref(const TaskSE3 &self)
Definition: task-se3-equality.hpp:106
static void getMask(TaskSE3 &self)
Definition: task-se3-equality.hpp:124
Definition: trajectory-base.hpp:35
static const Eigen::VectorXd & position_error(const TaskSE3 &self)
Definition: task-se3-equality.hpp:91
static const Eigen::VectorXd & position_ref(const TaskSE3 &self)
Definition: task-se3-equality.hpp:103
static void setReference(TaskSE3 &self, trajectories::TrajectorySample &ref)
Definition: task-se3-equality.hpp:82
static const Eigen::VectorXd & Kd(TaskSE3 &self)
Definition: task-se3-equality.hpp:112
Definition: task-se3-equality.hpp:35
static math::ConstraintEquality compute(TaskSE3 &self, const double t, const Eigen::VectorXd &q, const Eigen::VectorXd &v, pinocchio::Data &data)
Definition: task-se3-equality.hpp:73
static void expose(const std::string &class_name)
Definition: task-se3-equality.hpp:133
static void setKp(TaskSE3 &self, const ::Eigen::VectorXd Kp)
Definition: task-se3-equality.hpp:115
static const Eigen::VectorXd & Kp(TaskSE3 &self)
Definition: task-se3-equality.hpp:109
static const Eigen::VectorXd & getDesiredAcceleration(const TaskSE3 &self)
Definition: task-se3-equality.hpp:85
Definition: constraint-bound.hpp:26
static math::ConstraintEquality getConstraint(const TaskSE3 &self)
Definition: task-se3-equality.hpp:78
static const Eigen::VectorXd & velocity(const TaskSE3 &self)
Definition: task-se3-equality.hpp:100