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18 #ifndef __tsid_python_traj_se3_hpp__
19 #define __tsid_python_traj_se3_hpp__
28 namespace bp = boost::python;
30 template<
typename TrajSE3>
32 :
public boost::python::def_visitor< TrajectorySE3ConstantPythonVisitor<TrajSE3> >
35 template<
class PyClass>
40 .def(bp::init<std::string>((bp::arg(
"name")),
"Default Constructor with name"))
41 .def(bp::init<std::string, pinocchio::SE3>((bp::arg(
"name"), bp::arg(
"reference")),
"Default Constructor with name and ref_vec"))
43 .add_property(
"size", &TrajSE3::size)
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 SE3 Constant info.";
71 bp::class_<TrajSE3>(class_name.c_str(),
81 #endif // ifndef __tsid_python_traj_se3_hpp__
static void setReference(TrajSE3 &self, const pinocchio::SE3 &ref)
Definition: trajectory-se3.hpp:51
void visit(PyClass &cl) const
Definition: trajectory-se3.hpp:37
Definition: trajectory-base.hpp:35
static void expose(const std::string &class_name)
Definition: trajectory-se3.hpp:68
static void getLastSample(const TrajSE3 &self, trajectories::TrajectorySample &sample)
Definition: trajectory-se3.hpp:57
pinocchio::SE3 SE3
Definition: trajectory-base.hpp:34
static trajectories::TrajectorySample getSample(TrajSE3 &self, double time)
Definition: trajectory-se3.hpp:63
Definition: trajectory-se3.hpp:31
static bool has_trajectory_ended(const TrajSE3 &self)
Definition: trajectory-se3.hpp:60
Definition: constraint-bound.hpp:26
static trajectories::TrajectorySample computeNext(TrajSE3 &self)
Definition: trajectory-se3.hpp:54