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18 #ifndef __tsid_python_task_am_hpp__
19 #define __tsid_python_task_am_hpp__
32 namespace bp = boost::python;
34 template<
typename TaskAM>
36 :
public boost::python::def_visitor< TaskAMEqualityPythonVisitor<TaskAM> >
39 template<
class PyClass>
45 .def(bp::init<std::string, robots::RobotWrapper &> ((bp::arg(
"name"), bp::arg(
"robot")),
"Default Constructor"))
46 .add_property(
"dim", &TaskAM::dim,
"return dimension size")
63 static std::string
name(TaskAM &
self){
64 std::string
name =
self.name();
68 self.compute(t, q, v, data);
77 self.setReference(ref);
80 return self.getDesiredMomentumDerivative();
82 static Eigen::Vector3d
getdMomentum (TaskAM &
self,
const Eigen::VectorXd dv){
83 return self.getdMomentum(dv);
86 return self.momentum_error();
88 static const Eigen::Vector3d &
momentum (
const TaskAM &
self){
89 return self.momentum();
92 return self.momentum_ref();
95 return self.dmomentum_ref();
97 static const Eigen::Vector3d &
Kp (TaskAM &
self){
100 static const Eigen::Vector3d &
Kd (TaskAM &
self){
103 static void setKp (TaskAM &
self, const::Eigen::VectorXd
Kp){
106 static void setKd (TaskAM &
self, const::Eigen::VectorXd Kv){
109 static void expose(
const std::string & class_name)
111 std::string doc =
"TaskAMEqualityPythonVisitor info.";
112 bp::class_<TaskAM>(class_name.c_str(),
122 #endif // ifndef __tsid_python_task_am_hpp__
static math::ConstraintEquality compute(TaskAM &self, const double t, const Eigen::VectorXd &q, const Eigen::VectorXd &v, pinocchio::Data &data)
Definition: task-am-equality.hpp:67
Definition: trajectory-base.hpp:35
static void setKd(TaskAM &self, const ::Eigen::VectorXd Kv)
Definition: task-am-equality.hpp:106
Definition: constraint-equality.hpp:28
static void setKp(TaskAM &self, const ::Eigen::VectorXd Kp)
Definition: task-am-equality.hpp:103
static void expose(const std::string &class_name)
Definition: task-am-equality.hpp:109
static const Eigen::Vector3d & getDesiredMomentumDerivative(const TaskAM &self)
Definition: task-am-equality.hpp:79
static std::string name(TaskAM &self)
Definition: task-am-equality.hpp:63
static const Eigen::Vector3d & Kp(TaskAM &self)
Definition: task-am-equality.hpp:97
static const Eigen::Vector3d & Kd(TaskAM &self)
Definition: task-am-equality.hpp:100
static const Eigen::VectorXd & momentum_ref(const TaskAM &self)
Definition: task-am-equality.hpp:91
static void setReference(TaskAM &self, const trajectories::TrajectorySample &ref)
Definition: task-am-equality.hpp:76
Definition: task-am-equality.hpp:35
static Eigen::Vector3d getdMomentum(TaskAM &self, const Eigen::VectorXd dv)
Definition: task-am-equality.hpp:82
static math::ConstraintEquality getConstraint(const TaskAM &self)
Definition: task-am-equality.hpp:72
static const Eigen::VectorXd & dmomentum_ref(const TaskAM &self)
Definition: task-am-equality.hpp:94
Definition: constraint-bound.hpp:26
void visit(PyClass &cl) const
Definition: task-am-equality.hpp:42
static const Eigen::Vector3d & momentum(const TaskAM &self)
Definition: task-am-equality.hpp:88
static const Eigen::Vector3d & momentum_error(const TaskAM &self)
Definition: task-am-equality.hpp:85