constraint-bound.hpp
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2 // Copyright (c) 2018 CNRS
3 //
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17 
18 
19 #ifndef __tsid_python_constriant_bound_hpp__
20 #define __tsid_python_constriant_bound_hpp__
21 
23 
25 
26 namespace tsid
27 {
28  namespace python
29  {
30  namespace bp = boost::python;
31 
32  template<typename ConstraintBound>
34  : public boost::python::def_visitor< ConstraintPythonVisitor<ConstraintBound> >
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>((bp::arg("name"), bp::arg("size")), "Default constructor with name and size."))
43  .def(bp::init<std::string, Eigen::VectorXd, Eigen::VectorXd>((bp::arg("name"), bp::arg("lb"), bp::arg("ub")), "Default constructor with name and constraint."))
44 
45  .add_property("rows", &ConstraintBound::rows)
46  .add_property("cols", &ConstraintBound::cols)
47  .def("resize",&ConstraintBound::resize, (bp::arg("r"), bp::arg("c")),"Resize constraint size.")
48 
49  .add_property("isEquality", &ConstraintBound::isEquality)
50  .add_property("isInequality", &ConstraintBound::isInequality)
51  .add_property("isBound", &ConstraintBound::isBound)
52 
53  .add_property("vector", &ConstraintPythonVisitor::vector)
54  .add_property("lowerBound", &ConstraintPythonVisitor::lowerBound)
55  .add_property("upperBound", &ConstraintPythonVisitor::upperBound)
56 
57  .def("setVector", (bool (ConstraintBound::*)(const Eigen::VectorXd &) const) &ConstraintBound::setVector, bp::args("vector"), "Set Vector")
58  .def("setLowerBound", (bool (ConstraintBound::*)(const Eigen::VectorXd &) const) &ConstraintBound::setLowerBound, bp::args("lb"), "Set LowerBound")
59  .def("setUpperBound", (bool (ConstraintBound::*)(const Eigen::VectorXd &) const) &ConstraintBound::setUpperBound, bp::args("ub"), "Set UpperBound")
60  ;
61  }
62  static Eigen::VectorXd vector (const ConstraintBound & self) {return self.vector();}
63  static Eigen::VectorXd lowerBound (const ConstraintBound & self) {return self.lowerBound();}
64  static Eigen::VectorXd upperBound (const ConstraintBound & self) {return self.upperBound();}
65 
66  static void expose(const std::string & class_name)
67  {
68  std::string doc = "Constraint Bound info.";
69  bp::class_<ConstraintBound>(class_name.c_str(),
70  doc.c_str(),
71  bp::no_init)
73  }
74  };
75  }
76 }
77 
78 
79 #endif // ifndef __tsid_python_constriant_bound_hpp__
Definition: constraint-bound.hpp:33
static Eigen::VectorXd vector(const ConstraintBound &self)
Definition: constraint-bound.hpp:62
static Eigen::VectorXd upperBound(const ConstraintBound &self)
Definition: constraint-bound.hpp:64
static void expose(const std::string &class_name)
Definition: constraint-bound.hpp:66
Definition: constraint-bound.hpp:26
void visit(PyClass &cl) const
Definition: constraint-bound.hpp:38
static Eigen::VectorXd lowerBound(const ConstraintBound &self)
Definition: constraint-bound.hpp:63