18 #ifndef __tsid_python_traj_euclidian_hpp__ 19 #define __tsid_python_traj_euclidian_hpp__ 28 namespace bp = boost::python;
30 template<
typename Traj>
32 :
public boost::python::def_visitor< TrajectoryEuclidianConstantPythonVisitor<Traj> >
35 template<
class PyClass>
40 .def(bp::init<std::string>((bp::arg(
"name")),
"Default Constructor with name"))
41 .def(bp::init<std::string, Eigen::VectorXd>((bp::arg(
"name"), bp::arg(
"reference")),
"Default Constructor with name and ref_vec"))
43 .add_property(
"size", &Traj::size)
51 static void setReference(Traj &
self,
const Eigen::VectorXd & ref){
52 self.setReference(ref);
55 return self.computeNext();
58 self.getLastSample(sample);
61 return self.has_trajectory_ended();
64 return self.operator()(time);
68 static void expose(
const std::string & class_name)
70 std::string doc =
"Trajectory Euclidian Constant info.";
71 bp::class_<Traj>(class_name.c_str(),
81 #endif // ifndef __tsid_python_traj_euclidian_hpp__ static void setReference(Traj &self, const Eigen::VectorXd &ref)
Definition: trajectory-euclidian.hpp:51
Definition: trajectory-euclidian.hpp:31
static trajectories::TrajectorySample computeNext(Traj &self)
Definition: trajectory-euclidian.hpp:54
static bool has_trajectory_ended(const Traj &self)
Definition: trajectory-euclidian.hpp:60
static void getLastSample(const Traj &self, trajectories::TrajectorySample &sample)
Definition: trajectory-euclidian.hpp:57
Definition: trajectory-base.hpp:35
void visit(PyClass &cl) const
Definition: trajectory-euclidian.hpp:37
static trajectories::TrajectorySample getSample(Traj &self, double time)
Definition: trajectory-euclidian.hpp:63
static void expose(const std::string &class_name)
Definition: trajectory-euclidian.hpp:68
Definition: constraint-bound.hpp:26